diff --git a/1016-umi/session_20261019_150655_00214/right_hand/RGB_Images/video.mp4 b/1016-umi/session_20261019_150655_00214/right_hand/RGB_Images/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3236798a85f0b4d860d8a35d602ffb6e7610f82e --- /dev/null +++ b/1016-umi/session_20261019_150655_00214/right_hand/RGB_Images/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e036e6b9eb6f344e121def6c5cac292305db11bed0bedd6b2b5cf94d97ce955c +size 18596146 diff --git a/1016-umi/session_20261019_150753_00216/Logs/vive_broker_session.log b/1016-umi/session_20261019_150753_00216/Logs/vive_broker_session.log new file mode 100644 index 0000000000000000000000000000000000000000..d5648663efc0e1eafb5bb346cf73b4e01687998f --- /dev/null +++ b/1016-umi/session_20261019_150753_00216/Logs/vive_broker_session.log @@ -0,0 +1,2 @@ +{"event": "session_started", "time_ns": 1792393674087981426, "session_id": "session_20261019_150753_00216", "data_dir": 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seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + 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Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 52, + "ready_token": "3cf287e599d647cd96401f38442e812c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.ready.json", + "arm_request_id": "bdd0a3ca578b426ea057e151155da0b7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1257, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667636662164, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393673196845221, + "capture_count": 1077, + "capture_error_count": 0, + "writer_count": 714, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 164.17968750000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 384, + "max_queue_depth": 384, + "read_count": 384, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673218053512, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673222390096 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792393672831316642, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 20072, + "displayed_count": 18389, + "dropped_count": 1681, + "decode_error_count": 0, + "last_receive_time_ns": 1792393672807506893, + "last_frame_time_ns": 1792393672731160380, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667636662164, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393673196845221, + "capture_count": 1077, + "capture_error_count": 0, + "writer_count": 714, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 164.17968750000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 384, + "max_queue_depth": 384, + "read_count": 384, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673218053512, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673222390096 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "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": 1792393673532688972, + "ended_time_ns": 1792393673550511493, + "duration_s": 0.001518812, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393673559125289, + "ended_time_ns": 1792393673559420622, + "duration_s": 0.000295333, + "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": 1792393673559130289, + "ok": true, + "ended_time_ns": 1792393673559141789, + "duration_s": 1.15e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393673559143252, + "ok": true, + "ended_time_ns": 1792393673559147233, + "duration_s": 3.981e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393673559147807, + "ok": true, + "ended_time_ns": 1792393673559151696, + "duration_s": 3.889e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393673559152215, + "ok": true, + "ended_time_ns": 1792393673559406492, + "duration_s": 0.000254277 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393673559407918, + "ok": true, + "ended_time_ns": 1792393673559412899, + "duration_s": 4.981e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393673559413733, + "ok": true, + "ended_time_ns": 1792393673559417085, + "duration_s": 3.352e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393673559417622, + "ok": true, + "ended_time_ns": 1792393673559420048, + "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": 1792393673560310361, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393673196845221, + "frame_age_s": 0.363504454, + "heartbeat_age_s": 0.33793645, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393673560355416, + "duration_s": 4.5055e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393673560357805, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 164.17968750000003, + "sample_observed_time_ns": 1792393673218053512, + "sample_age_s": 0.342314293, + "heartbeat_age_s": 0.337971857, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393673560372490, + "duration_s": 1.4685e-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": 1792393673560378379, + "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": 1792393673560520027, + "duration_s": 0.000141648 + } + }, + "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://192.168.157.33:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792393673550523847, + "ended_time_ns": 1792393673644779005, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-817EC589\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-817EC589", + "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": "192.168.157.6", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "requested_tracker_serial": "LHR-4F99A346", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_150725_00215", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150725_00215", + "--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_20261019_150725_00215.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150725_00215", + "--control-generation", + "52", + "--ready-token", + "4c81d5d4077b40d89e49c332df135675", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393673644794894, + "ended_time_ns": 1792393673682190252, + "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_20261019_150725_00215.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.diagnostics.json", + "capture_start_time_ns": 1792393648983823803, + "capture_stop_time_ns": 1792393666811959757, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150725_00215", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150725_00215/right_hand", + "timing": { + "server_start_request_time_ns": 1792393645487772622, + "subprocess_popen_time_ns": 1792393645492928784, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792393645564039705, + "validate_start_time_ns": 1792393646599417989, + "session_dir_create_start_time_ns": 1792393645564968849, + "session_dir_create_end_time_ns": 1792393645565938715, + "as5600_init_start_time_ns": 1792393645567882021, + "as5600_init_end_time_ns": 1792393645568848794, + "as5600_zero_start_time_ns": 1792393645570252992, + "as5600_zero_end_time_ns": 1792393646374681056, + "camera_init_start_time_ns": 1792393646380615548, + "camera_init_end_time_ns": 1792393646384412012, + "camera_start_start_time_ns": 1792393646385352193, + "camera_start_end_time_ns": 1792393646386739279, + "camera_first_frame_wait_start_time_ns": 1792393646388144977, + "camera_first_frame_wait_end_time_ns": 1792393646389509730, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393646390734706, + "armed_time_ns": 1792393646597512071, + "waiting_t0_time_ns": 1792393646601880496, + "recording_start_time_ns": 1792393648983860014, + "stop_request_time_ns": 1792393665901719063, + "finalized_time_ns": 1792393666817887438 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393645427014118, + "ended_time_ns": 1792393645427430764, + "duration_s": 0.000416646, + "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": 1792393645427025488, + "ok": true, + "ended_time_ns": 1792393645427050266, + "duration_s": 2.4778e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393645427055266, + "ok": true, + "ended_time_ns": 1792393645427060803, + "duration_s": 5.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393645427061488, + "ok": true, + "ended_time_ns": 1792393645427066488, + "duration_s": 5e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393645427067025, + "ok": true, + "ended_time_ns": 1792393645427413524, + "duration_s": 0.000346499 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393645427415172, + "ok": true, + "ended_time_ns": 1792393645427421542, + "duration_s": 6.37e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393645427422431, + "ok": true, + "ended_time_ns": 1792393645427426375, + "duration_s": 3.944e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393645427426912, + "ok": true, + "ended_time_ns": 1792393645427429931, + "duration_s": 3.019e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 52, + "ready_token": "4c81d5d4077b40d89e49c332df135675", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.ready.json", + "arm_request_id": "bdd0a3ca578b426ea057e151155da0b7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2084, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667631038278, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393673184705575, + "capture_count": 1054, + "capture_error_count": 0, + "writer_count": 694, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.98437499999994, + "gripper_gap_mm": 72.60076352339989, + "status_ok": true, + "queue_size": 600, + "queue_depth": 383, + "max_queue_depth": 383, + "read_count": 383, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673195742840, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673202545513 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792393673100621527, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 20097, + "displayed_count": 13541, + "dropped_count": 6554, + "decode_error_count": 0, + "last_receive_time_ns": 1792393673077139503, + "last_frame_time_ns": 1792393672953003155, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667631038278, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393673184705575, + "capture_count": 1054, + "capture_error_count": 0, + "writer_count": 694, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.98437499999994, + "gripper_gap_mm": 72.60076352339989, + "status_ok": true, + "queue_size": 600, + "queue_depth": 383, + "max_queue_depth": 383, + "read_count": 383, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673195742840, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673202545513 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "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": 1792393673735882518, + "ended_time_ns": 1792393673760242006, + "duration_s": 0.001141495, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393673766738806, + "ended_time_ns": 1792393673766964065, + "duration_s": 0.000225259, + "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": 1792393673766742732, + "ok": true, + "ended_time_ns": 1792393673766751492, + "duration_s": 8.76e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393673766752806, + "ok": true, + "ended_time_ns": 1792393673766755473, + "duration_s": 2.667e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393673766756029, + "ok": true, + "ended_time_ns": 1792393673766758973, + "duration_s": 2.944e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393673766759417, + "ok": true, + "ended_time_ns": 1792393673766953750, + "duration_s": 0.000194333 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393673766954676, + "ok": true, + "ended_time_ns": 1792393673766958379, + "duration_s": 3.703e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393673766958972, + "ok": true, + "ended_time_ns": 1792393673766961194, + "duration_s": 2.222e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393673766961639, + "ok": true, + "ended_time_ns": 1792393673766963509, + "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": 1792393673767627802, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393673709072270, + "frame_age_s": 0.058586458, + "heartbeat_age_s": 0.057031724, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393673767662617, + "duration_s": 3.4815e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393673767664450, + "status_ok": true, + "gap_mm": 72.60076352339989, + "reference_angle_deg": 243.98437499999994, + "sample_observed_time_ns": 1792393673695736293, + "sample_age_s": 0.071936268, + "heartbeat_age_s": 0.057058113, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393673767676006, + "duration_s": 1.1556e-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": 1792393673767680802, + "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": 1792393673767789079, + "duration_s": 0.000108277 + } + }, + "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://192.168.157.6:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792393673760251051, + "ended_time_ns": 1792393673848597711, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-4F99A346\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "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": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_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/teleai/Tele-UMI/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792393943657588200, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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": "192.168.157.33", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_b20a63ab3b03406a.sock zhang@192.168.157.33 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/left_hand'", + "returncode": 0, + "started_time_ns": 1792393937121579583, + "ended_time_ns": 1792393937144383441, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_b20a63ab3b03406a.sock' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/left_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792393937144508572, + "ended_time_ns": 1792393937271637968, + "transferred_bytes": 13573, + "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: 13,573 bytes\nTotal transferred file size: 13,573 bytes\nLiteral data: 13,573 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: 13,709\n\nsent 46 bytes received 13,709 bytes 27,510.00 bytes/sec\ntotal size is 13,573 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_b20a63ab3b03406a.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/left_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/", + "returncode": 0, + "started_time_ns": 1792393937271912554, + "ended_time_ns": 1792393943656757716, + "transferred_bytes": 24146605, + "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: 24,146,605 bytes\nTotal transferred file size: 24,146,605 bytes\nLiteral data: 24,146,605 bytes\nMatched data: 0 bytes\nFile list size: 234\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 24,152,917\n\nsent 168 bytes received 24,152,917 bytes 3,715,859.23 bytes/sec\ntotal size is 24,146,605 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 24160178, + "copied_local_bytes": 25214455, + "started_time_ns": 1792393937121003584, + "ended_time_ns": 1792393943657042071 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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": "192.168.157.6", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_9c4686ae9fee5800.sock zhang@192.168.157.6 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/right_hand'", + "returncode": 0, + "started_time_ns": 1792393937121536754, + "ended_time_ns": 1792393937154234338, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_9c4686ae9fee5800.sock' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/right_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792393937154302058, + "ended_time_ns": 1792393937295854377, + "transferred_bytes": 13599, + "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: 13,599 bytes\nTotal transferred file size: 13,599 bytes\nLiteral data: 13,599 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: 13,735\n\nsent 46 bytes received 13,735 bytes 27,562.00 bytes/sec\ntotal size is 13,599 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_9c4686ae9fee5800.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/right_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/", + "returncode": 0, + "started_time_ns": 1792393937296149013, + "ended_time_ns": 1792393943324935674, + "transferred_bytes": 18965584, + "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: 18,965,584 bytes\nTotal transferred file size: 18,965,584 bytes\nLiteral data: 18,965,584 bytes\nMatched data: 0 bytes\nFile list size: 221\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 18,970,607\n\nsent 168 bytes received 18,970,607 bytes 2,918,580.77 bytes/sec\ntotal size is 18,965,584 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 18979183, + "copied_local_bytes": 20012390, + "started_time_ns": 1792393937121109146, + "ended_time_ns": 1792393943325247214 + }, + "error": null + } + }, + "pi_integrated_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216", + "pi_integrated_dirs": { + "left_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "right_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand" + }, + "pi_integrated_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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": "1016-umi", + "session_id": "session_20261019_150753_00216", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792466289058829318, + "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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792466288565868423, + "ended_time_ns": 1792466289058628606, + "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": 1792466288565868423, + "ended_time_ns": 1792466288811976501, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_150753_00216", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.33", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_150753_00216 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.33 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_150753_00216\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792393677527858852\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792393677527858852，vive_T0=1792393677527858852，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393697301943191，vive_Tstop=1792393697301943191，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007022s，first=1792393677534880911，T0=1792393677527858852，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002090s，last=1792393697299853091，Tstop=1792393697301943191，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3954\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: 200.0002815081119 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0002815081119 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 3954，metadata 3954\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0002812052482 Hz，最低 150.0 Hz，时长 19.76497220993042 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0002812052482 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=0.005382061004638672s，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 0.9999999992274031..1.0000000008110614，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.01056855018639868m，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=1.7153859939242166deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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=791 duration=19.775s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=791，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 791，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=790，rows=791，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=791，monotonic违规=0，估算频率=40.02352628268668Hz，最大间隔=0.034934078s；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: 791，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02352601908574 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: 40.02352601908574 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=0.034933596s，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 1187，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 98.4645..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: 1187，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99999122664546 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: 59.99999122664546 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=0.02262101s，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=1187，bad_rows=0，monotonic违规=0，估算频率=59.999990832041874Hz，最大间隔=0.022621436s；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 791，metadata 791\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1187，metadata 1187\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 791，timestamps 791，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=791，timestamps=791，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=0.037s，video=19.775s，timestamps=19.738390856s\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=0.028s，camera=19.738390856s，clamp=19.766669557s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792393677527858852，pi_T0=1792393677527858852，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393697301943191，pi_Tstop=1792393697301943191，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.015137s，first=1792393677542995757，T0=1792393677527858852，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.006860s，first=1792393677534718682，T0=1792393677527858852，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.020557s，last=1792393697281386613，Tstop=1792393697301943191，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000555s，last=1792393697301388239，Tstop=1792393697301943191，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.026581s，vive=19.76497218s，camera=19.738390856s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001697s，vive=19.76497218s，clamp=19.766669557s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.008115s，vive_first=1792393677534880911，camera_first=1792393677542995757，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000162s，vive_first=1792393677534880911，clamp_first=1792393677534718682，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.018466s，vive_last=1792393697299853091，camera_last=1792393697281386613，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001535s，vive_last=1792393697299853091，clamp_last=1792393697301388239，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_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": 1792466288812226812, + "ended_time_ns": 1792466289058628606, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_150753_00216", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.6", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_150753_00216 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.6 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_150753_00216\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792393677527858852\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792393677527858852，vive_T0=1792393677527858852，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393697301943191，vive_Tstop=1792393697301943191，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007022s，first=1792393677534880911，T0=1792393677527858852，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002090s，last=1792393697299853091，Tstop=1792393697301943191，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3954\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: 200.0002815081119 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0002815081119 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 3954，metadata 3954\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0002812052482 Hz，最低 150.0 Hz，时长 19.76497220993042 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0002812052482 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=0.005382061004638672s，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 0.9999999993046177..1.0000000006428311，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.016105703011223764m，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=3.6138142958085595deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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=792 duration=19.8s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=792，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 792，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=791，rows=792，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=792，monotonic违规=0，估算频率=40.03108982657604Hz，最大间隔=0.03457264s；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: 792，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03108922488328 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: 40.03108922488328 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=0.034572955s，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 1187，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 99.0403..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: 1187，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00012090277313 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: 60.00012090277313 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=0.02341408s，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=1187，bad_rows=0，monotonic违规=0，估算频率=60.00012123970536Hz，最大间隔=0.023413043s；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 792，metadata 792\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1187，metadata 1187\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 792，timestamps 792，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=792，timestamps=792，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=0.040s，video=19.8s，timestamps=19.759642201s\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=19.759642201s，clamp=19.766626836s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792393677527858852，pi_T0=1792393677527858852，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393697301943191，pi_Tstop=1792393697301943191，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.005752s，first=1792393677533610368，T0=1792393677527858852，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.001264s，first=1792393677529123185，T0=1792393677527858852，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.008691s，last=1792393697293252569，Tstop=1792393697301943191，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.006193s，last=1792393697295750021，Tstop=1792393697301943191，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.005330s，vive=19.76497218s，camera=19.759642201s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001655s，vive=19.76497218s，clamp=19.766626836s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.001271s，vive_first=1792393677534880911，camera_first=1792393677533610368，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.005758s，vive_first=1792393677534880911，clamp_first=1792393677529123185，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.006601s，vive_last=1792393697299853091，camera_last=1792393697293252569，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.004103s，vive_last=1792393697299853091，clamp_last=1792393697295750021，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_150753_00216\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792393677527858852\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792393677527858852，vive_T0=1792393677527858852，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393697301943191，vive_Tstop=1792393697301943191，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007022s，first=1792393677534880911，T0=1792393677527858852，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002090s，last=1792393697299853091，Tstop=1792393697301943191，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3954\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: 200.0002815081119 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0002815081119 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 3954，metadata 3954\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0002812052482 Hz，最低 150.0 Hz，时长 19.76497220993042 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0002812052482 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=0.005382061004638672s，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 0.9999999992274031..1.0000000008110614，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.01056855018639868m，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=1.7153859939242166deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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=791 duration=19.775s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=791，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 791，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=790，rows=791，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=791，monotonic违规=0，估算频率=40.02352628268668Hz，最大间隔=0.034934078s；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: 791，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02352601908574 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: 40.02352601908574 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=0.034933596s，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 1187，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 98.4645..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: 1187，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99999122664546 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: 59.99999122664546 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=0.02262101s，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=1187，bad_rows=0，monotonic违规=0，估算频率=59.999990832041874Hz，最大间隔=0.022621436s；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 791，metadata 791\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1187，metadata 1187\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 791，timestamps 791，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=791，timestamps=791，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=0.037s，video=19.775s，timestamps=19.738390856s\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=0.028s，camera=19.738390856s，clamp=19.766669557s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792393677527858852，pi_T0=1792393677527858852，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393697301943191，pi_Tstop=1792393697301943191，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.015137s，first=1792393677542995757，T0=1792393677527858852，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.006860s，first=1792393677534718682，T0=1792393677527858852，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.020557s，last=1792393697281386613，Tstop=1792393697301943191，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000555s，last=1792393697301388239，Tstop=1792393697301943191，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.026581s，vive=19.76497218s，camera=19.738390856s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001697s，vive=19.76497218s，clamp=19.766669557s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.008115s，vive_first=1792393677534880911，camera_first=1792393677542995757，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000162s，vive_first=1792393677534880911，clamp_first=1792393677534718682，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.018466s，vive_last=1792393697299853091，camera_last=1792393697281386613，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001535s，vive_last=1792393697299853091，clamp_last=1792393697301388239，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_150753_00216\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792393677527858852\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792393677527858852，vive_T0=1792393677527858852，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393697301943191，vive_Tstop=1792393697301943191，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007022s，first=1792393677534880911，T0=1792393677527858852，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002090s，last=1792393697299853091，Tstop=1792393697301943191，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3954\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: 200.0002815081119 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0002815081119 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 3954，metadata 3954\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0002812052482 Hz，最低 150.0 Hz，时长 19.76497220993042 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0002812052482 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=0.005382061004638672s，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 0.9999999993046177..1.0000000006428311，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.016105703011223764m，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=3.6138142958085595deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/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=792 duration=19.8s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=792，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 792，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=791，rows=792，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=792，monotonic违规=0，估算频率=40.03108982657604Hz，最大间隔=0.03457264s；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: 792，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03108922488328 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: 40.03108922488328 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=0.034572955s，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 1187，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 99.0403..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: 1187，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00012090277313 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: 60.00012090277313 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=0.02341408s，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=1187，bad_rows=0，monotonic违规=0，估算频率=60.00012123970536Hz，最大间隔=0.023413043s；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 792，metadata 792\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1187，metadata 1187\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 792，timestamps 792，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=792，timestamps=792，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=0.040s，video=19.8s，timestamps=19.759642201s\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=19.759642201s，clamp=19.766626836s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792393677527858852，pi_T0=1792393677527858852，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393697301943191，pi_Tstop=1792393697301943191，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.005752s，first=1792393677533610368，T0=1792393677527858852，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.001264s，first=1792393677529123185，T0=1792393677527858852，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.008691s，last=1792393697293252569，Tstop=1792393697301943191，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.006193s，last=1792393697295750021，Tstop=1792393697301943191，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.005330s，vive=19.76497218s，camera=19.759642201s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001655s，vive=19.76497218s，clamp=19.766626836s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.001271s，vive_first=1792393677534880911，camera_first=1792393677533610368，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.005758s，vive_first=1792393677534880911，clamp_first=1792393677529123185，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.006601s，vive_last=1792393697299853091，camera_last=1792393697293252569，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.004103s，vive_last=1792393697299853091，clamp_last=1792393697295750021，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150753_00216_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": 1792466286531406804 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_150753_00216/control/stop_left_hand.flag b/1016-umi/session_20261019_150753_00216/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..1c8a39f93f0432df1370d736ebf19141969d9ff6 --- /dev/null +++ b/1016-umi/session_20261019_150753_00216/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792393697301943191 \ No newline at end of file diff --git a/1016-umi/session_20261019_150753_00216/left_hand/Clamp_Data/clamp_data_tum.txt b/1016-umi/session_20261019_150753_00216/left_hand/Clamp_Data/clamp_data_tum.txt new 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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": 1792393677527858852, + "capture_stop_time_ns": 1792393697301943191 + }, + "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": 164.619140625, + "reference_source": "max_open_init", + "zero_angle_deg": 164.619140625, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + 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"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": 1187, + "clamp_first_sample_time_ns": 1792393677534718682, + "clamp_last_sample_time_ns": 1792393697301388239, + "clamp_actual_hz": 59.99999122664546, + "clamp_value_min": 98.46449083881112, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 436, + "read_count": 1829, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 4002 + }, + "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/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..63845da8495a25fc323d3e6b1d77f00058935883 --- /dev/null +++ b/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4272 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792393673934939505, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261019_150753_00216", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "pc_pi_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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, + 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"session_20261019_150725_00215", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150725_00215", + "--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_20261019_150725_00215.stop", + 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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": 1792393673560310361, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393673196845221, + "frame_age_s": 0.363504454, + "heartbeat_age_s": 0.33793645, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393673560355416, + "duration_s": 4.5055e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393673560357805, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 164.17968750000003, + "sample_observed_time_ns": 1792393673218053512, + "sample_age_s": 0.342314293, + "heartbeat_age_s": 0.337971857, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393673560372490, + "duration_s": 1.4685e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792393673560373879, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792393673560376935, + "duration_s": 3.056e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792393673560378379, + "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": 1792393673560520027, + "duration_s": 0.000141648 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 52, + "ready_token": "3cf287e599d647cd96401f38442e812c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.ready.json", + "arm_request_id": "bdd0a3ca578b426ea057e151155da0b7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1257, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667636662164, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393673722600127, + "capture_count": 1098, + "capture_error_count": 0, + "writer_count": 714, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 164.17968750000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 414, + "max_queue_depth": 414, + "read_count": 414, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673718057414, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673729710001 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792393672831316642, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 20072, + "displayed_count": 18389, + "dropped_count": 1681, + "decode_error_count": 0, + "last_receive_time_ns": 1792393672807506893, + "last_frame_time_ns": 1792393672731160380, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667636662164, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393673722600127, + "capture_count": 1098, + "capture_error_count": 0, + "writer_count": 714, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 164.17968750000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 414, + "max_queue_depth": 414, + "read_count": 414, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673718057414, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673729710001 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393673976103627, + "ended_time_ns": 1792393674010210254, + "duration_s": 0.000226999, + "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": 1792393674010233178, + "ok": true, + "ended_time_ns": 1792393674010242178, + "duration_s": 9e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393674010243956, + "ok": true, + "ended_time_ns": 1792393674010246567, + "duration_s": 2.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393674010247030, + "ok": true, + "ended_time_ns": 1792393674010249807, + "duration_s": 2.777e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393674010250159, + "ok": true, + "ended_time_ns": 1792393674010444622, + "duration_s": 0.000194463 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393674010445826, + "ok": true, + "ended_time_ns": 1792393674010450011, + "duration_s": 4.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393674010450640, + "ok": true, + "ended_time_ns": 1792393674010452918, + "duration_s": 2.278e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393674010453289, + "ok": true, + "ended_time_ns": 1792393674010455511, + "duration_s": 2.222e-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://192.168.157.33:8765/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_20261019_150753_00216", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "--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_20261019_150753_00216.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150753_00216", + "--control-generation", + "53", + "--ready-token", + "32b87a9d7df44f9a919553aee0eb864a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393674078815077, + "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_20261019_150753_00216.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "timing": { + "server_start_request_time_ns": 1792393674073210088, + "subprocess_popen_time_ns": 1792393674078815077, + "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": 1792393674010228919, + "ended_time_ns": 1792393674010455918, + "duration_s": 0.000226999, + "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": 1792393674010233178, + "ok": true, + "ended_time_ns": 1792393674010242178, + "duration_s": 9e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393674010243956, + "ok": true, + "ended_time_ns": 1792393674010246567, + "duration_s": 2.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393674010247030, + "ok": true, + "ended_time_ns": 1792393674010249807, + "duration_s": 2.777e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393674010250159, + "ok": true, + "ended_time_ns": 1792393674010444622, + "duration_s": 0.000194463 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393674010445826, + "ok": true, + "ended_time_ns": 1792393674010450011, + "duration_s": 4.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393674010450640, + "ok": true, + "ended_time_ns": 1792393674010452918, + "duration_s": 2.278e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393674010453289, + "ok": true, + "ended_time_ns": 1792393674010455511, + "duration_s": 2.222e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 53, + "ready_token": "32b87a9d7df44f9a919553aee0eb864a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1258, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667636662164, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393673722600127, + "capture_count": 1098, + "capture_error_count": 0, + "writer_count": 714, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 164.17968750000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 414, + "max_queue_depth": 414, + "read_count": 414, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673718057414, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673729710001 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792393674018674624, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 20082, + "displayed_count": 18399, + "dropped_count": 1681, + "decode_error_count": 0, + "last_receive_time_ns": 1792393673942933165, + "last_frame_time_ns": 1792393673917385494, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667636662164, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393673722600127, + "capture_count": 1098, + "capture_error_count": 0, + "writer_count": 714, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 164.17968750000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 414, + "max_queue_depth": 414, + "read_count": 414, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673718057414, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673729710001 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.33:8765/start", + "http_status": 200, + "started_time_ns": 1792393674013820719, + "ended_time_ns": 1792393674085683690 + }, + "pi_start_request_time_ns": 1792393674085689343, + "vive_pid": 3607289, + "vive_stop_file": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/control/stop_left_hand.flag", + "vive_start_time_ns": 1792393674087944860, + "capture_start_time_ns": 1792393677527858852, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792393696317951310, + "capture_stop_time_ns": 1792393697301943191, + "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_20261019_150753_00216", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "--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_20261019_150753_00216.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150753_00216", + "--control-generation", + "53", + "--ready-token", + "32b87a9d7df44f9a919553aee0eb864a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393674078815077, + "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_20261019_150753_00216.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.diagnostics.json", + "capture_start_time_ns": 1792393677527858852, + "capture_stop_time_ns": 1792393697301943191, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "timing": { + "server_start_request_time_ns": 1792393674073210088, + "subprocess_popen_time_ns": 1792393674078815077, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792393674090983256, + "validate_start_time_ns": 1792393675087599066, + "session_dir_create_start_time_ns": 1792393674091969125, + "session_dir_create_end_time_ns": 1792393674093161381, + "as5600_init_start_time_ns": 1792393674096157079, + "as5600_init_end_time_ns": 1792393674097923501, + "as5600_zero_start_time_ns": 1792393674099346147, + "as5600_zero_end_time_ns": 1792393674904093602, + "camera_init_start_time_ns": 1792393674905795506, + "camera_init_end_time_ns": 1792393674907984168, + "camera_start_start_time_ns": 1792393674909095148, + "camera_start_end_time_ns": 1792393674910748181, + "camera_first_frame_wait_start_time_ns": 1792393674912429919, + "camera_first_frame_wait_end_time_ns": 1792393674914070527, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393674915270024, + "armed_time_ns": 1792393675083922370, + "waiting_t0_time_ns": 1792393675089325304, + "recording_start_time_ns": 1792393677530220654, + "stop_request_time_ns": 1792393696347413806, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393674010228919, + "ended_time_ns": 1792393674010455918, + "duration_s": 0.000226999, + "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": 1792393674010233178, + "ok": true, + "ended_time_ns": 1792393674010242178, + "duration_s": 9e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393674010243956, + "ok": true, + "ended_time_ns": 1792393674010246567, + "duration_s": 2.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393674010247030, + "ok": true, + "ended_time_ns": 1792393674010249807, + "duration_s": 2.777e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393674010250159, + "ok": true, + "ended_time_ns": 1792393674010444622, + "duration_s": 0.000194463 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393674010445826, + "ok": true, + "ended_time_ns": 1792393674010450011, + "duration_s": 4.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393674010450640, + "ok": true, + "ended_time_ns": 1792393674010452918, + "duration_s": 2.278e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393674010453289, + "ok": true, + "ended_time_ns": 1792393674010455511, + "duration_s": 2.222e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 53, + "ready_token": "32b87a9d7df44f9a919553aee0eb864a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "arm_request_id": "b374a7d0f14a4f8bad4b487cef703023", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1258, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "running", + "session_id": "session_20261019_150753_00216", + "generation": 53, + "session_count": 53, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667636662164, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 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"waiting_t0_time_ns": 1792393675089325304, + "recording_start_time_ns": 1792393677530220654, + "stop_request_time_ns": 1792393696353462016, + "finalized_time_ns": 1792393697310607850 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393674010228919, + "ended_time_ns": 1792393674010455918, + "duration_s": 0.000226999, + "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": 1792393674010233178, + "ok": true, + "ended_time_ns": 1792393674010242178, + "duration_s": 9e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393674010243956, + "ok": true, + "ended_time_ns": 1792393674010246567, + "duration_s": 2.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393674010247030, + "ok": true, + "ended_time_ns": 1792393674010249807, + "duration_s": 2.777e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393674010250159, + "ok": true, + "ended_time_ns": 1792393674010444622, + "duration_s": 0.000194463 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393674010445826, + "ok": true, + "ended_time_ns": 1792393674010450011, + "duration_s": 4.185e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393674010450640, + "ok": true, + "ended_time_ns": 1792393674010452918, + "duration_s": 2.278e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393674010453289, + "ok": true, + "ended_time_ns": 1792393674010455511, + "duration_s": 2.222e-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": "192.168.157.12", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + 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C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 53, + "ready_token": "32b87a9d7df44f9a919553aee0eb864a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "arm_request_id": "b374a7d0f14a4f8bad4b487cef703023", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1258, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150753_00216", + "generation": 53, + "session_count": 53, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 53, + "last_bootstrap_time_ns": 1792393698122240014, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393698110558278, + "capture_count": 929, + "capture_error_count": 0, + "writer_count": 791, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 166.376953125, + "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": 1792393698120242111, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393698130391831 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792393697468619292, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 20289, + "displayed_count": 18555, + "dropped_count": 1733, + "decode_error_count": 0, + "last_receive_time_ns": 1792393697362013062, + "last_frame_time_ns": 1792393697362391413, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150753_00216", + "generation": 53, + "session_count": 53, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 53, + "last_bootstrap_time_ns": 1792393698122240014, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393698110558278, + "capture_count": 929, + "capture_error_count": 0, + "writer_count": 791, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 166.376953125, + "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": 1792393698120242111, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393698130391831 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792393698395894648, + "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": 1792393698395894222 + } + }, + "updated_time_ns": 1792393698395895761 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_metadata.json b/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f742c123e1ddd782e1a957444f7a5c4ef94bb158 --- /dev/null +++ b/1016-umi/session_20261019_150753_00216/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792393674089591016, + "platform": { + "system": "Linux", + "release": "6.8.0-138-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand", + "merged_trajectory_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Merged_Trajectory", + "metadata_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Metadata", + "vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": 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}, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 1187, + "clamp_first_sample_time_ns": 1792393677529123185, + "clamp_last_sample_time_ns": 1792393697295750021, + "clamp_actual_hz": 60.00012090277313, + "clamp_value_min": 99.04030677425695, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 438, + "read_count": 1829, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 4010 + }, + "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/1016-umi/session_20261019_150753_00216/right_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_150753_00216/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2f1d9d3fa73cd5e74317c30ec8c4d5de0ad0b461 --- /dev/null +++ b/1016-umi/session_20261019_150753_00216/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3885 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792393673946155022, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261019_150753_00216", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "pc_pi_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150753_00216/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_device": "0", + "camera_width": 1280, + "camera_height": 960, + 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120.0 + }, + "_source": { + "path": "/home/teleai/Tele-UMI/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": "192.168.157.6", + "pi_port": 8765, + "pi_base_url": "http://192.168.157.6:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.157.12", + "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": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_150725_00215", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150725_00215", + "--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_20261019_150725_00215.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150725_00215", + "--control-generation", + "52", + "--ready-token", + "4c81d5d4077b40d89e49c332df135675", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393673946780446, + "ended_time_ns": 1792393673979610060, + "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_20261019_150725_00215.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.diagnostics.json", + "capture_start_time_ns": 1792393648983823803, + "capture_stop_time_ns": 1792393666811959757, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150725_00215", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150725_00215/right_hand", + "timing": { + "server_start_request_time_ns": 1792393645487772622, + "subprocess_popen_time_ns": 1792393645492928784, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792393645564039705, + "validate_start_time_ns": 1792393646599417989, + "session_dir_create_start_time_ns": 1792393645564968849, + "session_dir_create_end_time_ns": 1792393645565938715, + "as5600_init_start_time_ns": 1792393645567882021, + "as5600_init_end_time_ns": 1792393645568848794, + "as5600_zero_start_time_ns": 1792393645570252992, + "as5600_zero_end_time_ns": 1792393646374681056, + "camera_init_start_time_ns": 1792393646380615548, + "camera_init_end_time_ns": 1792393646384412012, + "camera_start_start_time_ns": 1792393646385352193, + "camera_start_end_time_ns": 1792393646386739279, + "camera_first_frame_wait_start_time_ns": 1792393646388144977, + "camera_first_frame_wait_end_time_ns": 1792393646389509730, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393646390734706, + "armed_time_ns": 1792393646597512071, + "waiting_t0_time_ns": 1792393646601880496, + "recording_start_time_ns": 1792393648983860014, + "stop_request_time_ns": 1792393665901719063, + "finalized_time_ns": 1792393666817887438 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792393673766649029, + "ended_time_ns": 1792393673767790524, + "duration_s": 0.001141495, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393673766738806, + "ended_time_ns": 1792393673766964065, + "duration_s": 0.000225259, + "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": 1792393673766742732, + "ok": true, + "ended_time_ns": 1792393673766751492, + "duration_s": 8.76e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393673766752806, + "ok": true, + "ended_time_ns": 1792393673766755473, + "duration_s": 2.667e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393673766756029, + "ok": true, + "ended_time_ns": 1792393673766758973, + "duration_s": 2.944e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393673766759417, + "ok": true, + "ended_time_ns": 1792393673766953750, + "duration_s": 0.000194333 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393673766954676, + "ok": true, + "ended_time_ns": 1792393673766958379, + "duration_s": 3.703e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393673766958972, + "ok": true, + "ended_time_ns": 1792393673766961194, + "duration_s": 2.222e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393673766961639, + "ok": true, + "ended_time_ns": 1792393673766963509, + "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": 1792393673767627802, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393673709072270, + "frame_age_s": 0.058586458, + "heartbeat_age_s": 0.057031724, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393673767662617, + "duration_s": 3.4815e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393673767664450, + "status_ok": true, + "gap_mm": 72.60076352339989, + "reference_angle_deg": 243.98437499999994, + "sample_observed_time_ns": 1792393673695736293, + "sample_age_s": 0.071936268, + "heartbeat_age_s": 0.057058113, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393673767676006, + "duration_s": 1.1556e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792393673767676987, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792393673767679617, + "duration_s": 2.63e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792393673767680802, + "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": 1792393673767789079, + "duration_s": 0.000108277 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 52, + "ready_token": "4c81d5d4077b40d89e49c332df135675", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150725_00215.ready.json", + "arm_request_id": "bdd0a3ca578b426ea057e151155da0b7", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2084, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667631038278, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393673709072270, + "capture_count": 1075, + "capture_error_count": 0, + "writer_count": 694, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.98437499999994, + "gripper_gap_mm": 72.60076352339989, + "status_ok": true, + "queue_size": 600, + "queue_depth": 413, + "max_queue_depth": 413, + "read_count": 413, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673695736293, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673710609189 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792393673100621527, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 20097, + "displayed_count": 13541, + "dropped_count": 6554, + "decode_error_count": 0, + "last_receive_time_ns": 1792393673077139503, + "last_frame_time_ns": 1792393672953003155, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667631038278, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393673709072270, + "capture_count": 1075, + "capture_error_count": 0, + "writer_count": 694, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.98437499999994, + "gripper_gap_mm": 72.60076352339989, + "status_ok": true, + "queue_size": 600, + "queue_depth": 413, + "max_queue_depth": 413, + "read_count": 413, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673695736293, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673710609189 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393673981390972, + "ended_time_ns": 1792393674010150383, + "duration_s": 0.000222018, + "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": 1792393674008881290, + "ok": true, + "ended_time_ns": 1792393674008889753, + "duration_s": 8.463e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393674008891420, + "ok": true, + "ended_time_ns": 1792393674008894216, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393674008894679, + "ok": true, + "ended_time_ns": 1792393674008897624, + "duration_s": 2.945e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393674008898031, + "ok": true, + "ended_time_ns": 1792393674009088882, + "duration_s": 0.000190851 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393674009089956, + "ok": true, + "ended_time_ns": 1792393674009093530, + "duration_s": 3.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393674009094067, + "ok": true, + "ended_time_ns": 1792393674009096678, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393674009097067, + "ok": true, + "ended_time_ns": 1792393674009098845, + "duration_s": 1.778e-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://192.168.157.6:8765/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_20261019_150753_00216", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "--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_20261019_150753_00216.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150753_00216", + "--control-generation", + "53", + "--ready-token", + "f1f0e3b10cac41549906d7306006d2ef", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393674069589962, + "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_20261019_150753_00216.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "timing": { + "server_start_request_time_ns": 1792393674064845909, + "subprocess_popen_time_ns": 1792393674069589962, + "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": 1792393674008877346, + "ended_time_ns": 1792393674009099364, + "duration_s": 0.000222018, + "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": 1792393674008881290, + "ok": true, + "ended_time_ns": 1792393674008889753, + "duration_s": 8.463e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393674008891420, + "ok": true, + "ended_time_ns": 1792393674008894216, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393674008894679, + "ok": true, + "ended_time_ns": 1792393674008897624, + "duration_s": 2.945e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393674008898031, + "ok": true, + "ended_time_ns": 1792393674009088882, + "duration_s": 0.000190851 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393674009089956, + "ok": true, + "ended_time_ns": 1792393674009093530, + "duration_s": 3.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393674009094067, + "ok": true, + "ended_time_ns": 1792393674009096678, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393674009097067, + "ok": true, + "ended_time_ns": 1792393674009098845, + "duration_s": 1.778e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 53, + "ready_token": "f1f0e3b10cac41549906d7306006d2ef", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2085, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667631038278, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393673709072270, + "capture_count": 1075, + "capture_error_count": 0, + "writer_count": 694, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.98437499999994, + "gripper_gap_mm": 72.60076352339989, + "status_ok": true, + "queue_size": 600, + "queue_depth": 413, + "max_queue_depth": 413, + "read_count": 413, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673695736293, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673710609189 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792393673100621527, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 20097, + "displayed_count": 13541, + "dropped_count": 6554, + "decode_error_count": 0, + "last_receive_time_ns": 1792393673077139503, + "last_frame_time_ns": 1792393672953003155, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150725_00215", + "generation": 52, + "session_count": 52, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667631038278, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393673709072270, + "capture_count": 1075, + "capture_error_count": 0, + "writer_count": 694, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.98437499999994, + "gripper_gap_mm": 72.60076352339989, + "status_ok": true, + "queue_size": 600, + "queue_depth": 413, + "max_queue_depth": 413, + "read_count": 413, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393673695736293, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393673710609189 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.6:8765/start", + "http_status": 200, + "started_time_ns": 1792393674012324547, + "ended_time_ns": 1792393674082129865 + }, + "pi_start_request_time_ns": 1792393674082137761, + "capture_start_time_ns": 1792393677527858852, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792393696436007865, + "capture_stop_time_ns": 1792393697301943191, + "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_20261019_150753_00216", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "--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_20261019_150753_00216.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150753_00216", + "--control-generation", + "53", + "--ready-token", + "f1f0e3b10cac41549906d7306006d2ef", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393674069589962, + "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_20261019_150753_00216.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.diagnostics.json", + "capture_start_time_ns": 1792393677527858852, + "capture_stop_time_ns": 1792393697301943191, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "timing": { + "server_start_request_time_ns": 1792393674064845909, + "subprocess_popen_time_ns": 1792393674069589962, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792393674123801940, + "validate_start_time_ns": 1792393675116496249, + "session_dir_create_start_time_ns": 1792393674124641899, + "session_dir_create_end_time_ns": 1792393674125616358, + "as5600_init_start_time_ns": 1792393674126940092, + "as5600_init_end_time_ns": 1792393674127832681, + "as5600_zero_start_time_ns": 1792393674131724700, + "as5600_zero_end_time_ns": 1792393674936907280, + "camera_init_start_time_ns": 1792393674939106714, + "camera_init_end_time_ns": 1792393674944024711, + "camera_start_start_time_ns": 1792393674964319267, + "camera_start_end_time_ns": 1792393674965341837, + "camera_first_frame_wait_start_time_ns": 1792393674967062403, + "camera_first_frame_wait_end_time_ns": 1792393674968686822, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393674970203204, + "armed_time_ns": 1792393675115384347, + "waiting_t0_time_ns": 1792393675118274741, + "recording_start_time_ns": 1792393677531149657, + "stop_request_time_ns": 1792393696468971020, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393674008877346, + "ended_time_ns": 1792393674009099364, + "duration_s": 0.000222018, + "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": 1792393674008881290, + "ok": true, + "ended_time_ns": 1792393674008889753, + "duration_s": 8.463e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393674008891420, + "ok": true, + "ended_time_ns": 1792393674008894216, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393674008894679, + "ok": true, + "ended_time_ns": 1792393674008897624, + "duration_s": 2.945e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393674008898031, + "ok": true, + "ended_time_ns": 1792393674009088882, + "duration_s": 0.000190851 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393674009089956, + "ok": true, + "ended_time_ns": 1792393674009093530, + "duration_s": 3.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393674009094067, + "ok": true, + "ended_time_ns": 1792393674009096678, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393674009097067, + "ok": true, + "ended_time_ns": 1792393674009098845, + "duration_s": 1.778e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 53, + "ready_token": "f1f0e3b10cac41549906d7306006d2ef", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "arm_request_id": "b374a7d0f14a4f8bad4b487cef703023", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2085, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "running", + "session_id": "session_20261019_150753_00216", + "generation": 53, + "session_count": 53, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 52, + "last_bootstrap_time_ns": 1792393667631038278, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393674107957956, + "capture_count": 1091, + "capture_error_count": 0, + "writer_count": 694, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.98437499999994, + "gripper_gap_mm": 72.43761567502358, + "status_ok": true, + "queue_size": 600, + "queue_depth": 438, + "max_queue_depth": 438, + "read_count": 438, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393674112400417, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393674119845791 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.6:8765/stop", + "http_status": 200, + "started_time_ns": 1792393696436323698, + "ended_time_ns": 1792393696469135276 + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_150753_00216", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "--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_20261019_150753_00216.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150753_00216", + "--control-generation", + "53", + "--ready-token", + "f1f0e3b10cac41549906d7306006d2ef", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393698521763878, + "ended_time_ns": 1792393698550110718, + "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_20261019_150753_00216.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.diagnostics.json", + "capture_start_time_ns": 1792393677527858852, + "capture_stop_time_ns": 1792393697301943191, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150753_00216/right_hand", + "timing": { + "server_start_request_time_ns": 1792393674064845909, + "subprocess_popen_time_ns": 1792393674069589962, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792393674123801940, + "validate_start_time_ns": 1792393675116496249, + "session_dir_create_start_time_ns": 1792393674124641899, + "session_dir_create_end_time_ns": 1792393674125616358, + "as5600_init_start_time_ns": 1792393674126940092, + "as5600_init_end_time_ns": 1792393674127832681, + "as5600_zero_start_time_ns": 1792393674131724700, + "as5600_zero_end_time_ns": 1792393674936907280, + "camera_init_start_time_ns": 1792393674939106714, + "camera_init_end_time_ns": 1792393674944024711, + "camera_start_start_time_ns": 1792393674964319267, + "camera_start_end_time_ns": 1792393674965341837, + "camera_first_frame_wait_start_time_ns": 1792393674967062403, + "camera_first_frame_wait_end_time_ns": 1792393674968686822, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393674970203204, + "armed_time_ns": 1792393675115384347, + "waiting_t0_time_ns": 1792393675118274741, + "recording_start_time_ns": 1792393677531149657, + "stop_request_time_ns": 1792393696469672943, + "finalized_time_ns": 1792393697310171289 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393674008877346, + "ended_time_ns": 1792393674009099364, + "duration_s": 0.000222018, + "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": 1792393674008881290, + "ok": true, + "ended_time_ns": 1792393674008889753, + "duration_s": 8.463e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393674008891420, + "ok": true, + "ended_time_ns": 1792393674008894216, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393674008894679, + "ok": true, + "ended_time_ns": 1792393674008897624, + "duration_s": 2.945e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393674008898031, + "ok": true, + "ended_time_ns": 1792393674009088882, + "duration_s": 0.000190851 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393674009089956, + "ok": true, + "ended_time_ns": 1792393674009093530, + "duration_s": 3.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393674009094067, + "ok": true, + "ended_time_ns": 1792393674009096678, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393674009097067, + "ok": true, + "ended_time_ns": 1792393674009098845, + "duration_s": 1.778e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 53, + "ready_token": "f1f0e3b10cac41549906d7306006d2ef", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150753_00216.ready.json", + "arm_request_id": "b374a7d0f14a4f8bad4b487cef703023", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2085, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150753_00216", + "generation": 53, + "session_count": 53, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 53, + "last_bootstrap_time_ns": 1792393698116547159, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393698119806255, + "capture_count": 928, + "capture_error_count": 0, + "writer_count": 792, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_controls_path": 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NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 56, + "ready_token": "a3e284568c174b98a682a104cd15c904", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.ready.json", + "arm_request_id": "c3fdfc9c89d44ac7925df883c2f5362b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1261, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 56, + "last_bootstrap_time_ns": 1792393783745713890, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393790821733843, + "capture_count": 1200, + "capture_error_count": 0, + "writer_count": 775, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.84960937500003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 474, + "max_queue_depth": 474, + "read_count": 474, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393790827129739, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393790840900156 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792393789987838798, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21104, + "displayed_count": 19223, + "dropped_count": 1879, + "decode_error_count": 0, + "last_receive_time_ns": 1792393789936262846, + "last_frame_time_ns": 1792393789888521738, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 56, + "last_bootstrap_time_ns": 1792393783745713890, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393790821733843, + "capture_count": 1200, + "capture_error_count": 0, + "writer_count": 775, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.84960937500003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 474, + "max_queue_depth": 474, + "read_count": 474, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393790827129739, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393790840900156 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "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": 1792393790934257708, + "ended_time_ns": 1792393790961589780, + "duration_s": 0.001869385, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393790970817487, + "ended_time_ns": 1792393790971211357, + "duration_s": 0.00039387, + "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": 1792393790970821710, + "ok": true, + "ended_time_ns": 1792393790970831376, + "duration_s": 9.666e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393790970832432, + "ok": true, + "ended_time_ns": 1792393790970835339, + "duration_s": 2.907e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393790970835784, + "ok": true, + "ended_time_ns": 1792393790970839061, + "duration_s": 3.277e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393790970839450, + "ok": true, + "ended_time_ns": 1792393790971194690, + "duration_s": 0.00035524 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393790971197209, + "ok": true, + "ended_time_ns": 1792393790971203894, + "duration_s": 6.685e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393790971204616, + "ok": true, + "ended_time_ns": 1792393790971207338, + "duration_s": 2.722e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393790971207913, + "ok": true, + "ended_time_ns": 1792393790971210616, + "duration_s": 2.703e-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": 1792393790972400762, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393790821733843, + "frame_age_s": 0.150701234, + "heartbeat_age_s": 0.131516476, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393790972440503, + "duration_s": 3.9741e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393790972442651, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 165.84960937500003, + "sample_observed_time_ns": 1792393790827129739, + "sample_age_s": 0.145320523, + "heartbeat_age_s": 0.131545624, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393790972454280, + "duration_s": 1.1629e-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": 1792393790972459540, + "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": 1792393790972580799, + "duration_s": 0.000121259 + } + }, + "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://192.168.157.33:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792393790961603206, + "ended_time_ns": 1792393791047931646, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-817EC589\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-817EC589", + "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": "192.168.157.6", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "requested_tracker_serial": "LHR-4F99A346", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_150919_00219", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150919_00219", + "--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_20261019_150919_00219.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150919_00219", + "--control-generation", + "56", + "--ready-token", + "fc613970b6a34418ab8f6cd6d76fdf80", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393791047943245, + "ended_time_ns": 1792393791081585117, + "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_20261019_150919_00219.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.diagnostics.json", + "capture_start_time_ns": 1792393763541865425, + "capture_stop_time_ns": 1792393782921409899, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150919_00219", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150919_00219/right_hand", + "timing": { + "server_start_request_time_ns": 1792393759962798129, + "subprocess_popen_time_ns": 1792393759968037532, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792393760037115165, + "validate_start_time_ns": 1792393761174092936, + "session_dir_create_start_time_ns": 1792393760038058735, + "session_dir_create_end_time_ns": 1792393760039128045, + "as5600_init_start_time_ns": 1792393760040635446, + "as5600_init_end_time_ns": 1792393760041529868, + "as5600_zero_start_time_ns": 1792393760042885436, + "as5600_zero_end_time_ns": 1792393760851073612, + "camera_init_start_time_ns": 1792393760854472060, + "camera_init_end_time_ns": 1792393760857093548, + "camera_start_start_time_ns": 1792393760921829775, + "camera_start_end_time_ns": 1792393760923174306, + "camera_first_frame_wait_start_time_ns": 1792393760925386019, + "camera_first_frame_wait_end_time_ns": 1792393760927411880, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393760928823836, + "armed_time_ns": 1792393761118087799, + "waiting_t0_time_ns": 1792393761176278019, + "recording_start_time_ns": 1792393763543324456, + "stop_request_time_ns": 1792393782026711031, + "finalized_time_ns": 1792393782930882628 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393759933369095, + "ended_time_ns": 1792393759933668575, + "duration_s": 0.00029948, + "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": 1792393759933374040, + "ok": true, + "ended_time_ns": 1792393759933384688, + "duration_s": 1.0648e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393759933386706, + "ok": true, + "ended_time_ns": 1792393759933390428, + "duration_s": 3.722e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393759933391151, + "ok": true, + "ended_time_ns": 1792393759933394817, + "duration_s": 3.666e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393759933395373, + "ok": true, + "ended_time_ns": 1792393759933653798, + "duration_s": 0.000258425 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393759933655205, + "ok": true, + "ended_time_ns": 1792393759933660446, + "duration_s": 5.241e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393759933661353, + "ok": true, + "ended_time_ns": 1792393759933664483, + "duration_s": 3.13e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393759933665149, + "ok": true, + "ended_time_ns": 1792393759933667835, + "duration_s": 2.686e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 56, + "ready_token": "fc613970b6a34418ab8f6cd6d76fdf80", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.ready.json", + "arm_request_id": "c3fdfc9c89d44ac7925df883c2f5362b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2088, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 56, + "last_bootstrap_time_ns": 1792393782934205205, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393790509477568, + "capture_count": 1081, + "capture_error_count": 0, + "writer_count": 670, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.55773925477115, + "gripper_gap_mm": 83.6710248240801, + "status_ok": true, + "queue_size": 600, + "queue_depth": 456, + "max_queue_depth": 511, + "read_count": 5593, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393790514554175, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393790528901314 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792393790463866866, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21086, + "displayed_count": 14056, + "dropped_count": 7029, + "decode_error_count": 0, + "last_receive_time_ns": 1792393790441108765, + "last_frame_time_ns": 1792393790463041111, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 56, + "last_bootstrap_time_ns": 1792393782934205205, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393790509477568, + "capture_count": 1081, + "capture_error_count": 0, + "writer_count": 670, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.55773925477115, + "gripper_gap_mm": 83.6710248240801, + "status_ok": true, + "queue_size": 600, + "queue_depth": 456, + "max_queue_depth": 511, + "read_count": 5593, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393790514554175, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393790528901314 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "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": 1792393791402420872, + "ended_time_ns": 1792393791843512975, + "duration_s": 0.001577307, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393791437453650, + "ended_time_ns": 1792393791437751705, + "duration_s": 0.000298055, + "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": 1792393791437457891, + "ok": true, + "ended_time_ns": 1792393791437468354, + "duration_s": 1.0463e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393791437469817, + "ok": true, + "ended_time_ns": 1792393791437473706, + "duration_s": 3.889e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393791437474447, + "ok": true, + "ended_time_ns": 1792393791437478576, + "duration_s": 4.129e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393791437479187, + "ok": true, + "ended_time_ns": 1792393791437738279, + "duration_s": 0.000259092 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393791437739779, + "ok": true, + "ended_time_ns": 1792393791437744131, + "duration_s": 4.352e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393791437745001, + "ok": true, + "ended_time_ns": 1792393791437747927, + "duration_s": 2.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393791437748538, + "ok": true, + "ended_time_ns": 1792393791437750945, + "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。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792393791438648182, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393790509477568, + "frame_age_s": 0.929208781, + "heartbeat_age_s": 0.909762368, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393791438692737, + "duration_s": 4.4555e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393791438694960, + "status_ok": true, + "gap_mm": 83.6710248240801, + "reference_angle_deg": 243.55773925477115, + "sample_observed_time_ns": 1792393790514554175, + "sample_age_s": 0.924152155, + "heartbeat_age_s": 0.90979822, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393791438710793, + "duration_s": 1.5833e-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": 1792393791438718126, + "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": 1792393791438896885, + "duration_s": 0.000178759 + } + }, + "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://192.168.157.6:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792393791843526078, + "ended_time_ns": 1792393791932184653, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-4F99A346\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "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": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_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/teleai/Tele-UMI/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792393923417116726, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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": "192.168.157.33", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_b20a63ab3b03406a.sock zhang@192.168.157.33 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/left_hand'", + "returncode": 0, + "started_time_ns": 1792393918825256835, + "ended_time_ns": 1792393918859504247, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_b20a63ab3b03406a.sock' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/left_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792393918859613488, + "ended_time_ns": 1792393918983491090, + "transferred_bytes": 13571, + "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: 13,571 bytes\nTotal transferred file size: 13,571 bytes\nLiteral data: 13,571 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: 13,707\n\nsent 46 bytes received 13,707 bytes 27,506.00 bytes/sec\ntotal size is 13,571 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_b20a63ab3b03406a.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/left_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/", + "returncode": 0, + "started_time_ns": 1792393918983749599, + "ended_time_ns": 1792393923416613603, + "transferred_bytes": 22384753, + "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: 22,384,753 bytes\nTotal transferred file size: 22,384,753 bytes\nLiteral data: 22,384,753 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: 22,390,628\n\nsent 168 bytes received 22,390,628 bytes 4,071,053.82 bytes/sec\ntotal size is 22,384,753 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 22398324, + "copied_local_bytes": 23324924, + "started_time_ns": 1792393918824768407, + "ended_time_ns": 1792393923416782827 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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": "192.168.157.6", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_9c4686ae9fee5800.sock zhang@192.168.157.6 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/right_hand'", + "returncode": 0, + "started_time_ns": 1792393918825370720, + "ended_time_ns": 1792393918855147853, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_9c4686ae9fee5800.sock' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792393918855239394, + "ended_time_ns": 1792393918983123352, + "transferred_bytes": 13611, + "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: 13,611 bytes\nTotal transferred file size: 13,611 bytes\nLiteral data: 13,611 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: 13,747\n\nsent 46 bytes received 13,747 bytes 27,586.00 bytes/sec\ntotal size is 13,611 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_9c4686ae9fee5800.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/right_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/", + "returncode": 0, + "started_time_ns": 1792393918983358004, + "ended_time_ns": 1792393922831185157, + "transferred_bytes": 16134257, + "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: 16,134,257 bytes\nTotal transferred file size: 16,134,257 bytes\nLiteral data: 16,134,257 bytes\nMatched data: 0 bytes\nFile list size: 221\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 16,138,596\n\nsent 168 bytes received 16,138,596 bytes 3,586,392.00 bytes/sec\ntotal size is 16,134,257 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 16147868, + "copied_local_bytes": 17055005, + "started_time_ns": 1792393918824874342, + "ended_time_ns": 1792393922831339407 + }, + "error": null + } + }, + "pi_integrated_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220", + "pi_integrated_dirs": { + "left_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "right_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand" + }, + "pi_integrated_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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": "1016-umi", + "session_id": "session_20261019_150951_00220", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792466288566088547, + "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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792466288116538313, + "ended_time_ns": 1792466288565913035, + "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": 1792466288116538313, + "ended_time_ns": 1792466288335172267, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_150951_00220", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.33", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_150951_00220 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.33 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_150951_00220\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792393796557259160\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792393796557259160，vive_T0=1792393796557259160，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393813440496453，vive_Tstop=1792393813440496453，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005182s，first=1792393796562440896，T0=1792393796557259160，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003065s，last=1792393813437431862，Tstop=1792393813440496453，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3376\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: 200.00010706968698 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00010706968698 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 3376，metadata 3376\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00010737672142 Hz，最低 150.0 Hz，时长 16.874990940093994 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00010737672142 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=0.005228757858276367s，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 0.999999999253704..1.0000000007019811，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.006190414637111632m，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=1.6948823236892578deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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=676 duration=16.9s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=676，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 676，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=675，rows=676，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=676，monotonic违规=0，估算频率=40.02412308093716Hz，最大间隔=0.033812803s；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: 676，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02412237846101 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: 40.02412237846101 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=0.033812932s，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 1013，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 99.4242..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: 1013，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00001745099322 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: 60.00001745099322 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=0.020686791s，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=1013，bad_rows=0，monotonic违规=0，估算频率=60.00001837233764Hz，最大间隔=0.020686829s；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 676，metadata 676\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1013，metadata 1013\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 676，timestamps 676，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=676，timestamps=676，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=0.035s，video=16.9s，timestamps=16.864829505s\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=16.864829505s，clamp=16.866661761s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792393796557259160，pi_T0=1792393796557259160，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393813440496453，pi_Tstop=1792393813440496453，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.010538s，first=1792393796567797119，T0=1792393796557259160，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.003210s，first=1792393796560469282，T0=1792393796557259160，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.007870s，last=1792393813432626624，Tstop=1792393813440496453，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.013365s，last=1792393813427131043，Tstop=1792393813440496453，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010161s，vive=16.874990966s，camera=16.864829505s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.008329s，vive=16.874990966s，clamp=16.866661761s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005356s，vive_first=1792393796562440896，camera_first=1792393796567797119，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001972s，vive_first=1792393796562440896，clamp_first=1792393796560469282，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.004805s，vive_last=1792393813437431862，camera_last=1792393813432626624，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.010301s，vive_last=1792393813437431862，clamp_last=1792393813427131043，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_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": 1792466288335441556, + "ended_time_ns": 1792466288565913035, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_150951_00220", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.6", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_150951_00220 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.6 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_150951_00220\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792393796557259160\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792393796557259160，vive_T0=1792393796557259160，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393813440496453，vive_Tstop=1792393813440496453，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005182s，first=1792393796562440896，T0=1792393796557259160，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003065s，last=1792393813437431862，Tstop=1792393813440496453，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3376\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: 200.00010706968698 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00010706968698 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 3376，metadata 3376\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00010737672142 Hz，最低 150.0 Hz，时长 16.874990940093994 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00010737672142 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=0.005228757858276367s，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 0.9999999993346018..1.0000000006577443，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.007252018160350331m，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=1.714294065659589deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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=676 duration=16.9s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=676，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 676，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=675，rows=676，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=676，monotonic违规=0，估算频率=40.026605085483716Hz，最大间隔=0.033740181s；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: 676，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02660394381841 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: 40.02660394381841 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=0.03373933s，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 1013，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 94.0499..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: 1013，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99998511146615 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: 59.99998511146615 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=0.01962893s，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=1013，bad_rows=0，monotonic违规=0，估算频率=59.99998557035921Hz，最大间隔=0.019628634s；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 676，metadata 676\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1013，metadata 1013\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 676，timestamps 676，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=676，timestamps=676，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=0.036s，video=16.9s，timestamps=16.863783921s\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=0.003s，camera=16.863783921s，clamp=16.866670852s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792393796557259160，pi_T0=1792393796557259160，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393813440496453，pi_Tstop=1792393813440496453，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000023s，first=1792393796557282141，T0=1792393796557259160，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.007301s，first=1792393796564559923，T0=1792393796557259160，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.019430s，last=1792393813421066062，Tstop=1792393813440496453，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.009266s，last=1792393813431230775，Tstop=1792393813440496453，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011207s，vive=16.874990966s，camera=16.863783921s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.008320s，vive=16.874990966s，clamp=16.866670852s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.005159s，vive_first=1792393796562440896，camera_first=1792393796557282141，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002119s，vive_first=1792393796562440896，clamp_first=1792393796564559923，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.016366s，vive_last=1792393813437431862，camera_last=1792393813421066062，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.006201s，vive_last=1792393813437431862，clamp_last=1792393813431230775，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_150951_00220\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792393796557259160\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792393796557259160，vive_T0=1792393796557259160，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393813440496453，vive_Tstop=1792393813440496453，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005182s，first=1792393796562440896，T0=1792393796557259160，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003065s，last=1792393813437431862，Tstop=1792393813440496453，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3376\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: 200.00010706968698 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00010706968698 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 3376，metadata 3376\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00010737672142 Hz，最低 150.0 Hz，时长 16.874990940093994 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00010737672142 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=0.005228757858276367s，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 0.999999999253704..1.0000000007019811，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.006190414637111632m，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=1.6948823236892578deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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=676 duration=16.9s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=676，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 676，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=675，rows=676，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=676，monotonic违规=0，估算频率=40.02412308093716Hz，最大间隔=0.033812803s；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: 676，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02412237846101 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: 40.02412237846101 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=0.033812932s，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 1013，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 99.4242..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: 1013，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00001745099322 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: 60.00001745099322 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=0.020686791s，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=1013，bad_rows=0，monotonic违规=0，估算频率=60.00001837233764Hz，最大间隔=0.020686829s；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 676，metadata 676\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1013，metadata 1013\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 676，timestamps 676，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=676，timestamps=676，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=0.035s，video=16.9s，timestamps=16.864829505s\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=16.864829505s，clamp=16.866661761s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792393796557259160，pi_T0=1792393796557259160，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393813440496453，pi_Tstop=1792393813440496453，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.010538s，first=1792393796567797119，T0=1792393796557259160，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.003210s，first=1792393796560469282，T0=1792393796557259160，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.007870s，last=1792393813432626624，Tstop=1792393813440496453，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.013365s，last=1792393813427131043，Tstop=1792393813440496453，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010161s，vive=16.874990966s，camera=16.864829505s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.008329s，vive=16.874990966s，clamp=16.866661761s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005356s，vive_first=1792393796562440896，camera_first=1792393796567797119，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001972s，vive_first=1792393796562440896，clamp_first=1792393796560469282，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.004805s，vive_last=1792393813437431862，camera_last=1792393813432626624，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.010301s，vive_last=1792393813437431862，clamp_last=1792393813427131043，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_150951_00220\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792393796557259160\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792393796557259160，vive_T0=1792393796557259160，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393813440496453，vive_Tstop=1792393813440496453，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005182s，first=1792393796562440896，T0=1792393796557259160，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003065s，last=1792393813437431862，Tstop=1792393813440496453，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3376\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: 200.00010706968698 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00010706968698 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 3376，metadata 3376\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00010737672142 Hz，最低 150.0 Hz，时长 16.874990940093994 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00010737672142 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=0.005228757858276367s，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 0.9999999993346018..1.0000000006577443，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.007252018160350331m，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=1.714294065659589deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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=676 duration=16.9s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=676，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 676，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=675，rows=676，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=676，monotonic违规=0，估算频率=40.026605085483716Hz，最大间隔=0.033740181s；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: 676，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02660394381841 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: 40.02660394381841 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=0.03373933s，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 1013，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 94.0499..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: 1013，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99998511146615 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: 59.99998511146615 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=0.01962893s，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=1013，bad_rows=0，monotonic违规=0，估算频率=59.99998557035921Hz，最大间隔=0.019628634s；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 676，metadata 676\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1013，metadata 1013\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 676，timestamps 676，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=676，timestamps=676，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=0.036s，video=16.9s，timestamps=16.863783921s\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=0.003s，camera=16.863783921s，clamp=16.866670852s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792393796557259160，pi_T0=1792393796557259160，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393813440496453，pi_Tstop=1792393813440496453，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000023s，first=1792393796557282141，T0=1792393796557259160，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.007301s，first=1792393796564559923，T0=1792393796557259160，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.019430s，last=1792393813421066062，Tstop=1792393813440496453，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.009266s，last=1792393813431230775，Tstop=1792393813440496453，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011207s，vive=16.874990966s，camera=16.863783921s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.008320s，vive=16.874990966s，clamp=16.866670852s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.005159s，vive_first=1792393796562440896，camera_first=1792393796557282141，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002119s，vive_first=1792393796562440896，clamp_first=1792393796564559923，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.016366s，vive_last=1792393813437431862，camera_last=1792393813421066062，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.006201s，vive_last=1792393813437431862，clamp_last=1792393813431230775，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_150951_00220_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": 1792466286528306312 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_150951_00220/control/stop_left_hand.flag b/1016-umi/session_20261019_150951_00220/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..99ad07bea405331e091f9ffff0ba373726bb6f8e --- /dev/null +++ b/1016-umi/session_20261019_150951_00220/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792393813440496453 \ No newline at end of file diff --git a/1016-umi/session_20261019_150951_00220/left_hand/Clamp_Data/clamp_data_tum.txt b/1016-umi/session_20261019_150951_00220/left_hand/Clamp_Data/clamp_data_tum.txt new 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"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": 1013, + "clamp_first_sample_time_ns": 1792393796560469282, + "clamp_last_sample_time_ns": 1792393813427131043, + "clamp_actual_hz": 60.00001745099322, + "clamp_value_min": 99.42418406455417, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 557, + "read_count": 1831, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 3484 + }, + "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/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f503489e9285a88fe355a55d14a01b21f2d10d8e --- /dev/null +++ b/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4272 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792393792036107326, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261019_150951_00220", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220", + "pc_hand_dir": 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+ }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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, + 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"min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/teleai/Tele-UMI/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": "192.168.157.33", + "pi_port": 8765, + "pi_base_url": "http://192.168.157.33:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.157.12", + "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": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_150919_00219", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150919_00219", + "--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_20261019_150919_00219.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150919_00219", + "--control-generation", + "56", + "--ready-token", + "a3e284568c174b98a682a104cd15c904", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393792036538661, + "ended_time_ns": 1792393792091965179, + "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_20261019_150919_00219.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.diagnostics.json", + "capture_start_time_ns": 1792393763541865425, + "capture_stop_time_ns": 1792393782921409899, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150919_00219", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150919_00219/left_hand", + "timing": { + "server_start_request_time_ns": 1792393760002612923, + "subprocess_popen_time_ns": 1792393760007587709, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792393760024405360, + "validate_start_time_ns": 1792393761127739938, + "session_dir_create_start_time_ns": 1792393760027212910, + "session_dir_create_end_time_ns": 1792393760028247001, + "as5600_init_start_time_ns": 1792393760029471832, + "as5600_init_end_time_ns": 1792393760030343923, + "as5600_zero_start_time_ns": 1792393760031667253, + "as5600_zero_end_time_ns": 1792393760838042724, + "camera_init_start_time_ns": 1792393760840315312, + "camera_init_end_time_ns": 1792393760845918449, + "camera_start_start_time_ns": 1792393760847415279, + "camera_start_end_time_ns": 1792393760848989683, + "camera_first_frame_wait_start_time_ns": 1792393760850432014, + "camera_first_frame_wait_end_time_ns": 1792393760851830992, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393760853129082, + "armed_time_ns": 1792393761124304315, + "waiting_t0_time_ns": 1792393761129718434, + "recording_start_time_ns": 1792393763543617356, + "stop_request_time_ns": 1792393782077212949, + "finalized_time_ns": 1792393782931170954 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792393790970712969, + "ended_time_ns": 1792393790972582354, + "duration_s": 0.001869385, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393790970817487, + "ended_time_ns": 1792393790971211357, + "duration_s": 0.00039387, + "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": 1792393790970821710, + "ok": true, + "ended_time_ns": 1792393790970831376, + "duration_s": 9.666e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393790970832432, + "ok": true, + "ended_time_ns": 1792393790970835339, + "duration_s": 2.907e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393790970835784, + "ok": true, + "ended_time_ns": 1792393790970839061, + "duration_s": 3.277e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393790970839450, + "ok": true, + "ended_time_ns": 1792393790971194690, + "duration_s": 0.00035524 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393790971197209, + "ok": true, + "ended_time_ns": 1792393790971203894, + "duration_s": 6.685e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393790971204616, + "ok": true, + "ended_time_ns": 1792393790971207338, + "duration_s": 2.722e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393790971207913, + "ok": true, + "ended_time_ns": 1792393790971210616, + "duration_s": 2.703e-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": 1792393790972400762, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393790821733843, + "frame_age_s": 0.150701234, + "heartbeat_age_s": 0.131516476, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393790972440503, + "duration_s": 3.9741e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393790972442651, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 165.84960937500003, + "sample_observed_time_ns": 1792393790827129739, + "sample_age_s": 0.145320523, + "heartbeat_age_s": 0.131545624, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393790972454280, + "duration_s": 1.1629e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792393790972455688, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792393790972458429, + "duration_s": 2.741e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792393790972459540, + "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": 1792393790972580799, + "duration_s": 0.000121259 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 56, + "ready_token": "a3e284568c174b98a682a104cd15c904", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.ready.json", + "arm_request_id": "c3fdfc9c89d44ac7925df883c2f5362b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1261, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 56, + "last_bootstrap_time_ns": 1792393783745713890, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393791847941686, + "capture_count": 1241, + "capture_error_count": 0, + "writer_count": 775, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.84960937500003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 535, + "max_queue_depth": 535, + "read_count": 535, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393791843799324, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393791853597897 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792393791099283007, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21114, + "displayed_count": 19233, + "dropped_count": 1879, + "decode_error_count": 0, + "last_receive_time_ns": 1792393791057050851, + "last_frame_time_ns": 1792393790987462528, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 56, + "last_bootstrap_time_ns": 1792393783745713890, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393791847941686, + "capture_count": 1241, + "capture_error_count": 0, + "writer_count": 775, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.84960937500003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 535, + "max_queue_depth": 535, + "read_count": 535, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393791843799324, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393791853597897 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393792094458673, + "ended_time_ns": 1792393792139547753, + "duration_s": 0.000226407, + "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": 1792393792128922954, + "ok": true, + "ended_time_ns": 1792393792128932177, + "duration_s": 9.223e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393792128934362, + "ok": true, + "ended_time_ns": 1792393792128937232, + "duration_s": 2.87e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393792128937695, + "ok": true, + "ended_time_ns": 1792393792128940491, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393792128940862, + "ok": true, + "ended_time_ns": 1792393792129134213, + "duration_s": 0.000193351 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393792129135287, + "ok": true, + "ended_time_ns": 1792393792129139417, + "duration_s": 4.13e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393792129140010, + "ok": true, + "ended_time_ns": 1792393792129142232, + "duration_s": 2.222e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393792129142713, + "ok": true, + "ended_time_ns": 1792393792129144750, + "duration_s": 2.037e-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://192.168.157.33:8765/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_20261019_150951_00220", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "--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_20261019_150951_00220.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150951_00220", + "--control-generation", + "57", + "--ready-token", + "20707b5b19a547bbb85aa9dbc65ea802", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393792189360851, + "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_20261019_150951_00220.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "timing": { + "server_start_request_time_ns": 1792393792183827844, + "subprocess_popen_time_ns": 1792393792189360851, + "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": 1792393792128918769, + "ended_time_ns": 1792393792129145176, + "duration_s": 0.000226407, + "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": 1792393792128922954, + "ok": true, + "ended_time_ns": 1792393792128932177, + "duration_s": 9.223e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393792128934362, + "ok": true, + "ended_time_ns": 1792393792128937232, + "duration_s": 2.87e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393792128937695, + "ok": true, + "ended_time_ns": 1792393792128940491, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393792128940862, + "ok": true, + "ended_time_ns": 1792393792129134213, + "duration_s": 0.000193351 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393792129135287, + "ok": true, + "ended_time_ns": 1792393792129139417, + "duration_s": 4.13e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393792129140010, + "ok": true, + "ended_time_ns": 1792393792129142232, + "duration_s": 2.222e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393792129142713, + "ok": true, + "ended_time_ns": 1792393792129144750, + "duration_s": 2.037e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 57, + "ready_token": "20707b5b19a547bbb85aa9dbc65ea802", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1262, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 56, + "last_bootstrap_time_ns": 1792393783745713890, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393791847941686, + "capture_count": 1241, + "capture_error_count": 0, + "writer_count": 775, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.84960937500003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 535, + "max_queue_depth": 535, + "read_count": 535, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393791843799324, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393791853597897 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792393792182812402, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21124, + "displayed_count": 19243, + "dropped_count": 1879, + "decode_error_count": 0, + "last_receive_time_ns": 1792393792179400649, + "last_frame_time_ns": 1792393792076448764, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 56, + "last_bootstrap_time_ns": 1792393783745713890, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393791847941686, + "capture_count": 1241, + "capture_error_count": 0, + "writer_count": 775, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.84960937500003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 535, + "max_queue_depth": 535, + "read_count": 535, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393791843799324, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393791853597897 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.33:8765/start", + "http_status": 200, + "started_time_ns": 1792393792142010631, + "ended_time_ns": 1792393792202787539 + }, + "pi_start_request_time_ns": 1792393792202793154, + "vive_pid": 3607289, + "vive_stop_file": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/control/stop_left_hand.flag", + "vive_start_time_ns": 1792393792205358199, + "capture_start_time_ns": 1792393796557259160, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792393812560794160, + "capture_stop_time_ns": 1792393813440496453, + "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_20261019_150951_00220", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "--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_20261019_150951_00220.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150951_00220", + "--control-generation", + "57", + "--ready-token", + "20707b5b19a547bbb85aa9dbc65ea802", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393792189360851, + "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_20261019_150951_00220.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.diagnostics.json", + "capture_start_time_ns": 1792393796557259160, + "capture_stop_time_ns": 1792393813440496453, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "timing": { + "server_start_request_time_ns": 1792393792183827844, + "subprocess_popen_time_ns": 1792393792189360851, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792393792217573554, + "validate_start_time_ns": 1792393794122989573, + "session_dir_create_start_time_ns": 1792393792218916996, + "session_dir_create_end_time_ns": 1792393792220314234, + "as5600_init_start_time_ns": 1792393792222456951, + "as5600_init_end_time_ns": 1792393792223510097, + "as5600_zero_start_time_ns": 1792393792236238646, + "as5600_zero_end_time_ns": 1792393793051706524, + "camera_init_start_time_ns": 1792393793053056522, + "camera_init_end_time_ns": 1792393793054891259, + "camera_start_start_time_ns": 1792393793055751738, + "camera_start_end_time_ns": 1792393793057034514, + "camera_first_frame_wait_start_time_ns": 1792393793058353178, + "camera_first_frame_wait_end_time_ns": 1792393793059585249, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393793063205205, + "armed_time_ns": 1792393794120934374, + "waiting_t0_time_ns": 1792393794125080032, + "recording_start_time_ns": 1792393796562407852, + "stop_request_time_ns": 1792393812591320261, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393792128918769, + "ended_time_ns": 1792393792129145176, + "duration_s": 0.000226407, + "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": 1792393792128922954, + "ok": true, + "ended_time_ns": 1792393792128932177, + "duration_s": 9.223e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393792128934362, + "ok": true, + "ended_time_ns": 1792393792128937232, + "duration_s": 2.87e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393792128937695, + "ok": true, + "ended_time_ns": 1792393792128940491, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393792128940862, + "ok": true, + "ended_time_ns": 1792393792129134213, + "duration_s": 0.000193351 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393792129135287, + "ok": true, + "ended_time_ns": 1792393792129139417, + "duration_s": 4.13e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393792129140010, + "ok": true, + "ended_time_ns": 1792393792129142232, + "duration_s": 2.222e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393792129142713, + "ok": true, + "ended_time_ns": 1792393792129144750, + "duration_s": 2.037e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 57, + "ready_token": "20707b5b19a547bbb85aa9dbc65ea802", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "arm_request_id": "c480d0368b6f4df3b4959e8d5124f085", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1262, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "running", + "session_id": "session_20261019_150951_00220", + "generation": 57, + "session_count": 57, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 56, + "last_bootstrap_time_ns": 1792393783745713890, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393792198120945, + "capture_count": 1255, + "capture_error_count": 0, + "writer_count": 775, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.84960937500003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 556, + "max_queue_depth": 556, + "read_count": 556, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393792193811083, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393792210887493 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.33:8765/stop", + "http_status": 200, + "started_time_ns": 1792393812561333118, + "ended_time_ns": 1792393812599099281 + }, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261019_150951_00220", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 370272 + }, + "raw_trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 371970 + }, + "pc_metadata": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 140383 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 370402 + }, + "raw_trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 369309 + }, + "pc_metadata": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 128544 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_150951_00220", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "--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_20261019_150951_00220.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150951_00220", + "--control-generation", + "57", + "--ready-token", + "20707b5b19a547bbb85aa9dbc65ea802", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393814472269942, + "ended_time_ns": 1792393814543318698, + "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_20261019_150951_00220.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.diagnostics.json", + "capture_start_time_ns": 1792393796557259160, + "capture_stop_time_ns": 1792393813440496453, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "timing": { + "server_start_request_time_ns": 1792393792183827844, + "subprocess_popen_time_ns": 1792393792189360851, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792393792217573554, + "validate_start_time_ns": 1792393794122989573, + "session_dir_create_start_time_ns": 1792393792218916996, + "session_dir_create_end_time_ns": 1792393792220314234, + "as5600_init_start_time_ns": 1792393792222456951, + "as5600_init_end_time_ns": 1792393792223510097, + "as5600_zero_start_time_ns": 1792393792236238646, + "as5600_zero_end_time_ns": 1792393793051706524, + "camera_init_start_time_ns": 1792393793053056522, + "camera_init_end_time_ns": 1792393793054891259, + "camera_start_start_time_ns": 1792393793055751738, + "camera_start_end_time_ns": 1792393793057034514, + "camera_first_frame_wait_start_time_ns": 1792393793058353178, + "camera_first_frame_wait_end_time_ns": 1792393793059585249, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393793063205205, + "armed_time_ns": 1792393794120934374, + "waiting_t0_time_ns": 1792393794125080032, + "recording_start_time_ns": 1792393796562407852, + "stop_request_time_ns": 1792393812595798067, + "finalized_time_ns": 1792393813448488333 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393792128918769, + "ended_time_ns": 1792393792129145176, + "duration_s": 0.000226407, + "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": 1792393792128922954, + "ok": true, + "ended_time_ns": 1792393792128932177, + "duration_s": 9.223e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393792128934362, + "ok": true, + "ended_time_ns": 1792393792128937232, + "duration_s": 2.87e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393792128937695, + "ok": true, + "ended_time_ns": 1792393792128940491, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393792128940862, + "ok": true, + "ended_time_ns": 1792393792129134213, + "duration_s": 0.000193351 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393792129135287, + "ok": true, + "ended_time_ns": 1792393792129139417, + "duration_s": 4.13e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393792129140010, + "ok": true, + "ended_time_ns": 1792393792129142232, + "duration_s": 2.222e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393792129142713, + "ok": true, + "ended_time_ns": 1792393792129144750, + "duration_s": 2.037e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 57, + "ready_token": "20707b5b19a547bbb85aa9dbc65ea802", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "arm_request_id": "c480d0368b6f4df3b4959e8d5124f085", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1262, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150951_00220", + "generation": 57, + "session_count": 57, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 57, + "last_bootstrap_time_ns": 1792393814264650414, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393814256709485, + "capture_count": 849, + "capture_error_count": 0, + "writer_count": 676, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 167.958984375, + "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": 1792393814262716195, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393814268059203 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792393813488316364, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21311, + "displayed_count": 19386, + "dropped_count": 1923, + "decode_error_count": 0, + "last_receive_time_ns": 1792393813456391595, + "last_frame_time_ns": 1792393813390433968, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_150951_00220", + "generation": 57, + "session_count": 57, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 57, + "last_bootstrap_time_ns": 1792393814264650414, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393814256709485, + "capture_count": 849, + "capture_error_count": 0, + "writer_count": 676, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 167.958984375, + "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": 1792393814262716195, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393814268059203 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792393814556810955, + "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": 1792393814556810453 + } + }, + "updated_time_ns": 1792393814556812276 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_metadata.json b/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..417c848698fef8a14375264793e2dd6f6892bf6f --- /dev/null +++ b/1016-umi/session_20261019_150951_00220/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792393792207000254, + "platform": { + "system": "Linux", + "release": "6.8.0-138-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/left_hand", + "merged_trajectory_dir": 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"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": 1792393796557259160, + "capture_stop_time_ns": 1792393813440496453 + }, + "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": 242.75390624999994, + "reference_source": "max_open_init", + "zero_angle_deg": 242.75390624999994, + "zero_source": "max_open_init", + "init_total_samples": 48, 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"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": 1013, + "clamp_first_sample_time_ns": 1792393796564559923, + "clamp_last_sample_time_ns": 1792393813431230775, + "clamp_actual_hz": 59.99998511146615, + "clamp_value_min": 94.04990200039322, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 600, + "read_count": 6968, + "read_error_count": 0, + "queue_overrun_count": 10, + "last_read_error": null + }, + "main_loop_iterations": 3470 + }, + "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/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a215ac2e46b0c61b840f1e020e30abaf6865dd83 --- /dev/null +++ b/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3885 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792393792023104878, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261019_150951_00220", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "pc_pi_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, 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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, + 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"/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150919_00219", + "--control-generation", + "56", + "--ready-token", + "fc613970b6a34418ab8f6cd6d76fdf80", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393792023748452, + "ended_time_ns": 1792393792071320362, + "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_20261019_150919_00219.stop", + "diagnostics_path": 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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": 1792393791438648182, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393790509477568, + "frame_age_s": 0.929208781, + "heartbeat_age_s": 0.909762368, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393791438692737, + "duration_s": 4.4555e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393791438694960, + "status_ok": true, + "gap_mm": 83.6710248240801, + "reference_angle_deg": 243.55773925477115, + "sample_observed_time_ns": 1792393790514554175, + "sample_age_s": 0.924152155, + "heartbeat_age_s": 0.90979822, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393791438710793, + "duration_s": 1.5833e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792393791438712404, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792393791438716089, + "duration_s": 3.685e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792393791438718126, + "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": 1792393791438896885, + "duration_s": 0.000178759 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 56, + "ready_token": "fc613970b6a34418ab8f6cd6d76fdf80", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150919_00219.ready.json", + "arm_request_id": "c3fdfc9c89d44ac7925df883c2f5362b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2088, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 56, + "last_bootstrap_time_ns": 1792393782934205205, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393791036060865, + "capture_count": 1102, + "capture_error_count": 0, + "writer_count": 670, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.55773925477115, + "gripper_gap_mm": 83.50787697570378, + "status_ok": true, + "queue_size": 600, + "queue_depth": 487, + "max_queue_depth": 511, + "read_count": 5624, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393791031251553, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393791036768213 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792393791524487629, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21095, + "displayed_count": 14062, + "dropped_count": 7032, + "decode_error_count": 0, + "last_receive_time_ns": 1792393791452029011, + "last_frame_time_ns": 1792393791489285454, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 56, + "last_bootstrap_time_ns": 1792393782934205205, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393791036060865, + "capture_count": 1102, + "capture_error_count": 0, + "writer_count": 670, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.55773925477115, + "gripper_gap_mm": 83.50787697570378, + "status_ok": true, + "queue_size": 600, + "queue_depth": 487, + "max_queue_depth": 511, + "read_count": 5624, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393791031251553, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393791036768213 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + 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"expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 57, + "ready_token": "2ed95d271ac24519a95e6aa0ab0382cc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2089, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 56, + "last_bootstrap_time_ns": 1792393782934205205, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393791885786780, + "capture_count": 1136, + "capture_error_count": 0, + "writer_count": 670, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.55773925477115, + "gripper_gap_mm": 83.50787697570378, + "status_ok": true, + "queue_size": 600, + "queue_depth": 539, + "max_queue_depth": 539, + "read_count": 5676, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393791897922541, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393791907335294 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792393792576651633, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21104, + "displayed_count": 14067, + "dropped_count": 7035, + "decode_error_count": 0, + "last_receive_time_ns": 1792393792507582833, + "last_frame_time_ns": 1792393792415379693, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150919_00219", + "generation": 56, + "session_count": 56, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 56, + "last_bootstrap_time_ns": 1792393782934205205, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393792933987006, + "capture_count": 1178, + "capture_error_count": 0, + "writer_count": 670, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.55773925477115, + "gripper_gap_mm": 83.50787697570378, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 5738, + "read_error_count": 0, + "queue_overrun_count": 1, + "last_read_error": null, + "updated_time_ns": 1792393792932012256, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393792934414967 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.6:8765/start", + "http_status": 200, + "started_time_ns": 1792393792885240648, + "ended_time_ns": 1792393793027072626 + }, + "pi_start_request_time_ns": 1792393793027078084, + "capture_start_time_ns": 1792393796557259160, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792393812597188884, + "capture_stop_time_ns": 1792393813440496453, + "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_20261019_150951_00220", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "--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_20261019_150951_00220.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150951_00220", + "--control-generation", + "57", + "--ready-token", + "2ed95d271ac24519a95e6aa0ab0382cc", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393793003785044, + "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_20261019_150951_00220.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.diagnostics.json", + "capture_start_time_ns": 1792393796557259160, + "capture_stop_time_ns": 1792393813440496453, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "timing": { + "server_start_request_time_ns": 1792393792921260564, + "subprocess_popen_time_ns": 1792393793003785044, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792393793080817901, + "validate_start_time_ns": 1792393794158334884, + "session_dir_create_start_time_ns": 1792393793085051197, + "session_dir_create_end_time_ns": 1792393793086945336, + "as5600_init_start_time_ns": 1792393793091460094, + "as5600_init_end_time_ns": 1792393793092699551, + "as5600_zero_start_time_ns": 1792393793094300692, + "as5600_zero_end_time_ns": 1792393793900616303, + "camera_init_start_time_ns": 1792393793902481295, + "camera_init_end_time_ns": 1792393793905212597, + "camera_start_start_time_ns": 1792393793906309685, + "camera_start_end_time_ns": 1792393793908465768, + "camera_first_frame_wait_start_time_ns": 1792393793910725035, + "camera_first_frame_wait_end_time_ns": 1792393793912510324, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393793917009674, + "armed_time_ns": 1792393794157036853, + "waiting_t0_time_ns": 1792393794160270783, + "recording_start_time_ns": 1792393796560089646, + "stop_request_time_ns": 1792393812633234942, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393792117962420, + "ended_time_ns": 1792393792118261086, + "duration_s": 0.000298666, + "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": 1792393792117967235, + "ok": true, + "ended_time_ns": 1792393792117977513, + "duration_s": 1.0278e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393792117980254, + "ok": true, + "ended_time_ns": 1792393792117984291, + "duration_s": 4.037e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393792117985068, + "ok": true, + "ended_time_ns": 1792393792117989068, + "duration_s": 4e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393792117989772, + "ok": true, + "ended_time_ns": 1792393792118247160, + "duration_s": 0.000257388 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393792118248604, + "ok": true, + "ended_time_ns": 1792393792118253308, + "duration_s": 4.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393792118254141, + "ok": true, + "ended_time_ns": 1792393792118257030, + "duration_s": 2.889e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393792118257549, + "ok": true, + "ended_time_ns": 1792393792118260308, + "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。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 57, + "ready_token": "2ed95d271ac24519a95e6aa0ab0382cc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "arm_request_id": "c480d0368b6f4df3b4959e8d5124f085", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2089, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "running", + "session_id": "session_20261019_150951_00220", + "generation": 57, + "session_count": 57, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 56, + "last_bootstrap_time_ns": 1792393782934205205, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393793059032832, + "capture_count": 1183, + "capture_error_count": 0, + "writer_count": 670, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.55773925477115, + "gripper_gap_mm": 83.50787697570378, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 5746, + "read_error_count": 0, + "queue_overrun_count": 9, + "last_read_error": null, + "updated_time_ns": 1792393793064564511, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393793076826937 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.6:8765/stop", + "http_status": 200, + "started_time_ns": 1792393812597485606, + "ended_time_ns": 1792393812637404179 + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_150951_00220", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "--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_20261019_150951_00220.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_150951_00220", + "--control-generation", + "57", + "--ready-token", + "2ed95d271ac24519a95e6aa0ab0382cc", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393813666946044, + "ended_time_ns": 1792393813696548218, + "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_20261019_150951_00220.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.diagnostics.json", + "capture_start_time_ns": 1792393796557259160, + "capture_stop_time_ns": 1792393813440496453, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "timing": { + "server_start_request_time_ns": 1792393792921260564, + "subprocess_popen_time_ns": 1792393793003785044, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792393793080817901, + "validate_start_time_ns": 1792393794158334884, + "session_dir_create_start_time_ns": 1792393793085051197, + "session_dir_create_end_time_ns": 1792393793086945336, + "as5600_init_start_time_ns": 1792393793091460094, + "as5600_init_end_time_ns": 1792393793092699551, + "as5600_zero_start_time_ns": 1792393793094300692, + "as5600_zero_end_time_ns": 1792393793900616303, + "camera_init_start_time_ns": 1792393793902481295, + "camera_init_end_time_ns": 1792393793905212597, + "camera_start_start_time_ns": 1792393793906309685, + "camera_start_end_time_ns": 1792393793908465768, + "camera_first_frame_wait_start_time_ns": 1792393793910725035, + "camera_first_frame_wait_end_time_ns": 1792393793912510324, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393793917009674, + "armed_time_ns": 1792393794157036853, + "waiting_t0_time_ns": 1792393794160270783, + "recording_start_time_ns": 1792393796560089646, + "stop_request_time_ns": 1792393812633234942, + "finalized_time_ns": 1792393813448614438 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393792117962420, + "ended_time_ns": 1792393792118261086, + "duration_s": 0.000298666, + "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": 1792393792117967235, + "ok": true, + "ended_time_ns": 1792393792117977513, + "duration_s": 1.0278e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393792117980254, + "ok": true, + "ended_time_ns": 1792393792117984291, + "duration_s": 4.037e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393792117985068, + "ok": true, + "ended_time_ns": 1792393792117989068, + "duration_s": 4e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393792117989772, + "ok": true, + "ended_time_ns": 1792393792118247160, + "duration_s": 0.000257388 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393792118248604, + "ok": true, + "ended_time_ns": 1792393792118253308, + "duration_s": 4.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393792118254141, + "ok": true, + "ended_time_ns": 1792393792118257030, + "duration_s": 2.889e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393792118257549, + "ok": true, + "ended_time_ns": 1792393792118260308, + "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。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 57, + "ready_token": "2ed95d271ac24519a95e6aa0ab0382cc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_150951_00220.ready.json", + "arm_request_id": "c480d0368b6f4df3b4959e8d5124f085", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2089, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150951_00220", + "generation": 57, + "session_count": 57, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 57, + "last_bootstrap_time_ns": 1792393813472747977, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393813469906472, + "capture_count": 784, + "capture_error_count": 0, + "writer_count": 676, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 242.75390624999994, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 2, + "max_queue_depth": 600, + "read_count": 6970, + "read_error_count": 0, + "queue_overrun_count": 10, + "last_read_error": null, + "updated_time_ns": 1792393813464562070, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393813476670867 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792393813480984755, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21288, + "displayed_count": 14154, + "dropped_count": 7132, + "decode_error_count": 0, + "last_receive_time_ns": 1792393813375716988, + "last_frame_time_ns": 1792393813269635392, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_150951_00220", + "generation": 57, + "session_count": 57, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 57, + "last_bootstrap_time_ns": 1792393813472747977, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393813469906472, + "capture_count": 784, + "capture_error_count": 0, + "writer_count": 676, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 242.75390624999994, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 2, + "max_queue_depth": 600, + "read_count": 6970, + "read_error_count": 0, + "queue_overrun_count": 10, + "last_read_error": null, + "updated_time_ns": 1792393813464562070, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393813476670867 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "final_ok": true + }, + "updated_time_ns": 1792393813699559956 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_metadata.json b/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e960e6230bb6819da5cc92e8ce5414304186e046 --- /dev/null +++ b/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792393792207005889, + "platform": { + "system": "Linux", + "release": "6.8.0-138-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand", + "merged_trajectory_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Merged_Trajectory", + "metadata_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata", + "vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/right_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "right_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-4F99A346", + "tracker_serials": [ + "LHR-817EC589", + "LHR-4F99A346" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792393796557259160, + "capture_stop_time_ns": 1792393813440496453, + "effective_capture_stop_time_ns": 1792393813440496453, + "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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_150951_00220/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": 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"--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393853648009536, + "ended_time_ns": 1792393853709224224, + "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_20261019_151022_00221.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.diagnostics.json", + "capture_start_time_ns": 1792393826205510030, + "capture_stop_time_ns": 1792393844729211517, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151022_00221", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151022_00221/left_hand", + "timing": { + "server_start_request_time_ns": 1792393822680709523, + "subprocess_popen_time_ns": 1792393822685933068, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792393822722732142, + "validate_start_time_ns": 1792393823767468652, + "session_dir_create_start_time_ns": 1792393822724351954, + "session_dir_create_end_time_ns": 1792393822725576637, + "as5600_init_start_time_ns": 1792393822728795223, + "as5600_init_end_time_ns": 1792393822733289899, + "as5600_zero_start_time_ns": 1792393822735130303, + "as5600_zero_end_time_ns": 1792393823542353587, + "camera_init_start_time_ns": 1792393823544474064, + "camera_init_end_time_ns": 1792393823549856479, + "camera_start_start_time_ns": 1792393823551078087, + "camera_start_end_time_ns": 1792393823552970639, + "camera_first_frame_wait_start_time_ns": 1792393823554892209, + "camera_first_frame_wait_end_time_ns": 1792393823556625354, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393823558171277, + "armed_time_ns": 1792393823766038063, + "waiting_t0_time_ns": 1792393823769215260, + "recording_start_time_ns": 1792393826208195465, + "stop_request_time_ns": 1792393843970480369, + "finalized_time_ns": 1792393844738446010 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393822646844999, + "ended_time_ns": 1792393822647072887, + "duration_s": 0.000227888, + "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": 1792393822646848980, + "ok": true, + "ended_time_ns": 1792393822646857925, + "duration_s": 8.945e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393822646859777, + "ok": true, + "ended_time_ns": 1792393822646862462, + "duration_s": 2.685e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393822646862980, + "ok": true, + "ended_time_ns": 1792393822646866277, + "duration_s": 3.297e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393822646866647, + "ok": true, + "ended_time_ns": 1792393822647062628, + "duration_s": 0.000195981 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393822647063887, + "ok": true, + "ended_time_ns": 1792393822647067591, + "duration_s": 3.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393822647068295, + "ok": true, + "ended_time_ns": 1792393822647070184, + "duration_s": 1.889e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393822647070572, + "ok": true, + "ended_time_ns": 1792393822647072461, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 58, + "ready_token": "537507834d4e450a85f2494f824b2d19", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.ready.json", + "arm_request_id": "3d19dcfdca3d41d2b4608f05e41e6b85", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1263, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845550245914, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393853633609452, + "capture_count": 1205, + "capture_error_count": 0, + "writer_count": 741, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 159.78515625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 534, + "max_queue_depth": 534, + "read_count": 534, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393853631651623, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393853645540391 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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, + 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"last_receive_time_ns": 1792393852592828212, + "last_frame_time_ns": 1792393852596191002, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845550245914, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393853633609452, + "capture_count": 1205, + "capture_error_count": 0, + "writer_count": 741, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 159.78515625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 534, + "max_queue_depth": 534, + "read_count": 534, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393853631651623, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393853645540391 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", 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"expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + 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"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": 1792393853809623580, + "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": 1792393853809730172, + "duration_s": 0.000106592 + } + }, + "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://192.168.157.33:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792393853798663169, + "ended_time_ns": 1792393853883114284, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-817EC589\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-817EC589", + "tracker_indices": [ + 1, + 2 + ], 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null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792393822691415202, + "ok": true, + "ended_time_ns": 1792393822691425720, + "duration_s": 1.0518e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393822691428146, + "ok": true, + "ended_time_ns": 1792393822691431961, + "duration_s": 3.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393822691432665, + "ok": true, + "ended_time_ns": 1792393822691436535, + "duration_s": 3.87e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393822691437072, + "ok": true, + "ended_time_ns": 1792393822691686590, + "duration_s": 0.000249518 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393822691687793, + "ok": true, + "ended_time_ns": 1792393822691692367, + "duration_s": 4.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393822691693145, + "ok": true, + "ended_time_ns": 1792393822691696182, + "duration_s": 3.037e-06 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"timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + 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unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 58, + "ready_token": "16c2d39191a64567966c58b8fc32afd2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.ready.json", + "arm_request_id": "3d19dcfdca3d41d2b4608f05e41e6b85", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2090, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845557308401, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393853671117414, + "capture_count": 1200, + "capture_error_count": 0, + "writer_count": 739, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.36914062499994, + "gripper_gap_mm": 83.69481721298956, + "status_ok": true, + "queue_size": 600, + "queue_depth": 537, + "max_queue_depth": 537, + "read_count": 537, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393853683630598, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393853686302475 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792393853188736956, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21637, + "displayed_count": 14347, + "dropped_count": 7288, + "decode_error_count": 0, + "last_receive_time_ns": 1792393853179057536, + "last_frame_time_ns": 1792393853049973191, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845557308401, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393853671117414, + "capture_count": 1200, + "capture_error_count": 0, + "writer_count": 739, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.36914062499994, + "gripper_gap_mm": 83.69481721298956, + "status_ok": true, + "queue_size": 600, + "queue_depth": 537, + "max_queue_depth": 537, + "read_count": 537, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393853683630598, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393853686302475 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "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": 1792393853992127111, + "ended_time_ns": 1792393854009330527, + "duration_s": 0.001831862, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393854016711266, + "ended_time_ns": 1792393854017068764, + "duration_s": 0.000357498, + "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": 1792393854016717154, + "ok": true, + "ended_time_ns": 1792393854016730543, + "duration_s": 1.3389e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393854016732136, + "ok": true, + "ended_time_ns": 1792393854016736747, + "duration_s": 4.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393854016737543, + "ok": true, + "ended_time_ns": 1792393854016742247, + "duration_s": 4.704e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393854016742858, + "ok": true, + "ended_time_ns": 1792393854017050727, + "duration_s": 0.000307869 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393854017052857, + "ok": true, + "ended_time_ns": 1792393854017059449, + "duration_s": 6.592e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393854017060320, + "ok": true, + "ended_time_ns": 1792393854017064079, + "duration_s": 3.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393854017064764, + "ok": true, + "ended_time_ns": 1792393854017067857, + "duration_s": 3.093e-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": 1792393854018155629, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393853671117414, + "frame_age_s": 0.347079178, + "heartbeat_age_s": 0.331870451, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393854018203574, + "duration_s": 4.7945e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393854018206518, + "status_ok": true, + "gap_mm": 83.69481721298956, + "reference_angle_deg": 243.36914062499994, + "sample_observed_time_ns": 1792393853683630598, + "sample_age_s": 0.334587124, + "heartbeat_age_s": 0.33190871, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393854018222240, + "duration_s": 1.5722e-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": 1792393854018228407, + "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": 1792393854018397202, + "duration_s": 0.000168795 + } + }, + "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://192.168.157.6:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792393854009339796, + "ended_time_ns": 1792393854098389142, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-4F99A346\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "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": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_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/teleai/Tele-UMI/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792393913564870060, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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": "192.168.157.33", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_b20a63ab3b03406a.sock zhang@192.168.157.33 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/left_hand'", + "returncode": 0, + "started_time_ns": 1792393908214375061, + "ended_time_ns": 1792393908235938991, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_b20a63ab3b03406a.sock' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/left_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792393908236018292, + "ended_time_ns": 1792393908322832447, + "transferred_bytes": 13582, + "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: 13,582 bytes\nTotal transferred file size: 13,582 bytes\nLiteral data: 13,582 bytes\nMatched data: 0 bytes\nFile list size: 76\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,719\n\nsent 46 bytes received 13,719 bytes 27,530.00 bytes/sec\ntotal size is 13,582 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_b20a63ab3b03406a.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/left_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/", + "returncode": 0, + "started_time_ns": 1792393908323043816, + "ended_time_ns": 1792393913564045474, + "transferred_bytes": 27115885, + "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: 27,115,885 bytes\nTotal transferred file size: 27,115,885 bytes\nLiteral data: 27,115,885 bytes\nMatched data: 0 bytes\nFile list size: 231\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 27,122,914\n\nsent 168 bytes received 27,122,914 bytes 4,931,469.45 bytes/sec\ntotal size is 27,115,885 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 27129467, + "copied_local_bytes": 28192463, + "started_time_ns": 1792393908213839977, + "ended_time_ns": 1792393913564322140 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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": "192.168.157.6", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_9c4686ae9fee5800.sock zhang@192.168.157.6 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/right_hand'", + "returncode": 0, + "started_time_ns": 1792393908214349497, + "ended_time_ns": 1792393908242729106, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_9c4686ae9fee5800.sock' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/right_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792393908242792869, + "ended_time_ns": 1792393908338434349, + "transferred_bytes": 13607, + "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: 13,607 bytes\nTotal transferred file size: 13,607 bytes\nLiteral data: 13,607 bytes\nMatched data: 0 bytes\nFile list size: 76\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,744\n\nsent 46 bytes received 13,744 bytes 27,580.00 bytes/sec\ntotal size is 13,607 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_9c4686ae9fee5800.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/right_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/", + "returncode": 0, + "started_time_ns": 1792393908338741987, + "ended_time_ns": 1792393912092906501, + "transferred_bytes": 16665504, + "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: 16,665,504 bytes\nTotal transferred file size: 16,665,504 bytes\nLiteral data: 16,665,504 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: 16,669,972\n\nsent 168 bytes received 16,669,972 bytes 3,704,475.56 bytes/sec\ntotal size is 16,665,504 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 16679111, + "copied_local_bytes": 17716241, + "started_time_ns": 1792393908213944244, + "ended_time_ns": 1792393912093202576 + }, + "error": null + } + }, + "pi_integrated_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222", + "pi_integrated_dirs": { + "left_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "right_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand" + }, + "pi_integrated_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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": "1016-umi", + "session_id": "session_20261019_151054_00222", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792466288559187038, + "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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792466288057414072, + "ended_time_ns": 1792466288558989642, + "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": 1792466288057414072, + "ended_time_ns": 1792466288310625618, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_151054_00222", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.33", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_151054_00222 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.33 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151054_00222\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792393857755257462\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792393857755257462，vive_T0=1792393857755257462，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393877705453537，vive_Tstop=1792393877705453537，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007505s，first=1792393857762762429，T0=1792393857755257462，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002768s，last=1792393877702685669，Tstop=1792393877705453537，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3989\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: 200.00076991269302 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00076991269302 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 3989，metadata 3989\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0007718382905 Hz，最低 150.0 Hz，时长 19.93992304801941 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0007718382905 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=0.005388498306274414s，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 0.9999999992550013..1.000000000752123，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.03626555189429964m，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=1.4941040449336407deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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=798 duration=19.95s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=798，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 798，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=797，rows=798，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=798，monotonic违规=0，估算频率=40.02456274773463Hz，最大间隔=0.033876098s；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: 798，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0245617065575 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: 40.0245617065575 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=0.033875691s，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 1197，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 99.7041..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: 1197，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99997496957566 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: 59.99997496957566 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=0.020897903s，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=1197，bad_rows=0，monotonic违规=0，估算频率=59.99997502676624Hz，最大间隔=0.020898791s；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 798，metadata 798\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1197，metadata 1197\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 798，timestamps 798，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=798，timestamps=798，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=0.037s，video=19.95s，timestamps=19.912772708s\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=0.021s，camera=19.912772708s，clamp=19.933341649s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792393857755257462，pi_T0=1792393857755257462，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393877705453537，pi_Tstop=1792393877705453537，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.024117s，first=1792393857779374169，T0=1792393857755257462，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.009707s，first=1792393857764963994，T0=1792393857755257462，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013307s，last=1792393877692146877，Tstop=1792393877705453537，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.007148s，last=1792393877698305643，Tstop=1792393877705453537，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.027151s，vive=19.93992324s，camera=19.912772708s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.006582s，vive=19.93992324s，clamp=19.933341649s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.016612s，vive_first=1792393857762762429，camera_first=1792393857779374169，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.002202s，vive_first=1792393857762762429，clamp_first=1792393857764963994，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.010539s，vive_last=1792393877702685669，camera_last=1792393877692146877，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.004380s，vive_last=1792393877702685669，clamp_last=1792393877698305643，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_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": 1792466288310939747, + "ended_time_ns": 1792466288558989642, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_151054_00222", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.6", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_151054_00222 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.6 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151054_00222\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792393857755257462\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792393857755257462，vive_T0=1792393857755257462，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393877705453537，vive_Tstop=1792393877705453537，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007505s，first=1792393857762762429，T0=1792393857755257462，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002768s，last=1792393877702685669，Tstop=1792393877705453537，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3989\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: 200.00076991269302 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00076991269302 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 3989，metadata 3989\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0007718382905 Hz，最低 150.0 Hz，时长 19.93992304801941 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0007718382905 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=0.005388498306274414s，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 0.9999999993771922..1.0000000006687173，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.006582475702776645m，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=1.586075450871282deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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=798 duration=19.95s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=798，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 798，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=797，rows=798，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=798，monotonic违规=0，估算频率=40.02778194852143Hz，最大间隔=0.033150073s；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: 798，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02778369749804 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: 40.02778369749804 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=0.033149833s，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 1197，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 98.8084..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: 1197，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000072317144024 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: 60.000072317144024 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=0.019998114s，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=1197，bad_rows=0，monotonic违规=0，估算频率=60.00007493888958Hz，最大间隔=0.019998391s；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 798，metadata 798\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1197，metadata 1197\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 798，timestamps 798，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=798，timestamps=798，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=0.039s，video=19.95s，timestamps=19.911169852s\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=19.911169852s，clamp=19.933309308s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792393857755257462，pi_T0=1792393857755257462，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393877705453537，pi_Tstop=1792393877705453537，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013672s，first=1792393857768929745，T0=1792393857755257462，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.011729s，first=1792393857766986939，T0=1792393857755257462，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.025354s，last=1792393877680099597，Tstop=1792393877705453537，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005157s，last=1792393877700296247，Tstop=1792393877705453537，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.028753s，vive=19.93992324s，camera=19.911169852s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.006614s，vive=19.93992324s，clamp=19.933309308s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006167s，vive_first=1792393857762762429，camera_first=1792393857768929745，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.004225s，vive_first=1792393857762762429，clamp_first=1792393857766986939，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.022586s，vive_last=1792393877702685669，camera_last=1792393877680099597，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.002389s，vive_last=1792393877702685669，clamp_last=1792393877700296247，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151054_00222\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792393857755257462\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792393857755257462，vive_T0=1792393857755257462，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393877705453537，vive_Tstop=1792393877705453537，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007505s，first=1792393857762762429，T0=1792393857755257462，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002768s，last=1792393877702685669，Tstop=1792393877705453537，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3989\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: 200.00076991269302 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00076991269302 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 3989，metadata 3989\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0007718382905 Hz，最低 150.0 Hz，时长 19.93992304801941 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0007718382905 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=0.005388498306274414s，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 0.9999999992550013..1.000000000752123，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.03626555189429964m，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=1.4941040449336407deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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=798 duration=19.95s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=798，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 798，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=797，rows=798，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=798，monotonic违规=0，估算频率=40.02456274773463Hz，最大间隔=0.033876098s；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: 798，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0245617065575 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: 40.0245617065575 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=0.033875691s，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 1197，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 99.7041..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: 1197，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99997496957566 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: 59.99997496957566 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=0.020897903s，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=1197，bad_rows=0，monotonic违规=0，估算频率=59.99997502676624Hz，最大间隔=0.020898791s；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 798，metadata 798\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1197，metadata 1197\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 798，timestamps 798，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=798，timestamps=798，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=0.037s，video=19.95s，timestamps=19.912772708s\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=0.021s，camera=19.912772708s，clamp=19.933341649s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792393857755257462，pi_T0=1792393857755257462，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393877705453537，pi_Tstop=1792393877705453537，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.024117s，first=1792393857779374169，T0=1792393857755257462，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.009707s，first=1792393857764963994，T0=1792393857755257462，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013307s，last=1792393877692146877，Tstop=1792393877705453537，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.007148s，last=1792393877698305643，Tstop=1792393877705453537，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.027151s，vive=19.93992324s，camera=19.912772708s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.006582s，vive=19.93992324s，clamp=19.933341649s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.016612s，vive_first=1792393857762762429，camera_first=1792393857779374169，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.002202s，vive_first=1792393857762762429，clamp_first=1792393857764963994，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.010539s，vive_last=1792393877702685669，camera_last=1792393877692146877，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.004380s，vive_last=1792393877702685669，clamp_last=1792393877698305643，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151054_00222\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792393857755257462\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792393857755257462，vive_T0=1792393857755257462，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792393877705453537，vive_Tstop=1792393877705453537，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007505s，first=1792393857762762429，T0=1792393857755257462，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002768s，last=1792393877702685669，Tstop=1792393877705453537，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3989\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: 200.00076991269302 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00076991269302 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 3989，metadata 3989\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0007718382905 Hz，最低 150.0 Hz，时长 19.93992304801941 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0007718382905 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=0.005388498306274414s，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 0.9999999993771922..1.0000000006687173，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.006582475702776645m，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=1.586075450871282deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/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=798 duration=19.95s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=798，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 798，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=797，rows=798，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=798，monotonic违规=0，估算频率=40.02778194852143Hz，最大间隔=0.033150073s；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: 798，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02778369749804 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: 40.02778369749804 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=0.033149833s，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 1197，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 98.8084..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: 1197，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000072317144024 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: 60.000072317144024 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=0.019998114s，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=1197，bad_rows=0，monotonic违规=0，估算频率=60.00007493888958Hz，最大间隔=0.019998391s；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 798，metadata 798\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1197，metadata 1197\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 798，timestamps 798，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=798，timestamps=798，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=0.039s，video=19.95s，timestamps=19.911169852s\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=19.911169852s，clamp=19.933309308s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792393857755257462，pi_T0=1792393857755257462，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792393877705453537，pi_Tstop=1792393877705453537，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013672s，first=1792393857768929745，T0=1792393857755257462，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.011729s，first=1792393857766986939，T0=1792393857755257462，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.025354s，last=1792393877680099597，Tstop=1792393877705453537，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005157s，last=1792393877700296247，Tstop=1792393877705453537，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.028753s，vive=19.93992324s，camera=19.911169852s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.006614s，vive=19.93992324s，clamp=19.933309308s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006167s，vive_first=1792393857762762429，camera_first=1792393857768929745，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.004225s，vive_first=1792393857762762429，clamp_first=1792393857766986939，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.022586s，vive_last=1792393877702685669，camera_last=1792393877680099597，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.002389s，vive_last=1792393877702685669，clamp_last=1792393877700296247，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151054_00222_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": 1792466286525219612 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_151054_00222/control/stop_left_hand.flag b/1016-umi/session_20261019_151054_00222/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..d759af2b4a34a29b8968abfe753cce361f89f9bc --- /dev/null +++ b/1016-umi/session_20261019_151054_00222/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792393877705453537 \ No newline at end of file diff --git a/1016-umi/session_20261019_151054_00222/left_hand/Clamp_Data/clamp_data_tum.txt b/1016-umi/session_20261019_151054_00222/left_hand/Clamp_Data/clamp_data_tum.txt new 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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/1016-umi/session_20261019_151054_00222/left_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_151054_00222/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ddd088e5183d61a2195ad21029a88d4edb0954a5 --- /dev/null +++ b/1016-umi/session_20261019_151054_00222/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4272 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792393854183373832, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261019_151054_00222", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "pc_pi_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_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/teleai/Tele-UMI/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": "192.168.157.33", + "pi_port": 8765, + "pi_base_url": "http://192.168.157.33:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.157.12", + "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": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151022_00221", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151022_00221", + "--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_20261019_151022_00221.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151022_00221", + "--control-generation", + "58", + "--ready-token", + "537507834d4e450a85f2494f824b2d19", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393854183793028, + "ended_time_ns": 1792393854236981945, + "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_20261019_151022_00221.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.diagnostics.json", + "capture_start_time_ns": 1792393826205510030, + "capture_stop_time_ns": 1792393844729211517, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151022_00221", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151022_00221/left_hand", + "timing": { + "server_start_request_time_ns": 1792393822680709523, + "subprocess_popen_time_ns": 1792393822685933068, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792393822722732142, + "validate_start_time_ns": 1792393823767468652, + "session_dir_create_start_time_ns": 1792393822724351954, + "session_dir_create_end_time_ns": 1792393822725576637, + "as5600_init_start_time_ns": 1792393822728795223, + "as5600_init_end_time_ns": 1792393822733289899, + "as5600_zero_start_time_ns": 1792393822735130303, + "as5600_zero_end_time_ns": 1792393823542353587, + "camera_init_start_time_ns": 1792393823544474064, + "camera_init_end_time_ns": 1792393823549856479, + "camera_start_start_time_ns": 1792393823551078087, + "camera_start_end_time_ns": 1792393823552970639, + "camera_first_frame_wait_start_time_ns": 1792393823554892209, + "camera_first_frame_wait_end_time_ns": 1792393823556625354, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393823558171277, + "armed_time_ns": 1792393823766038063, + "waiting_t0_time_ns": 1792393823769215260, + "recording_start_time_ns": 1792393826208195465, + "stop_request_time_ns": 1792393843970480369, + "finalized_time_ns": 1792393844738446010 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792393853808555582, + "ended_time_ns": 1792393853809731931, + "duration_s": 0.001176349, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393853808648100, + "ended_time_ns": 1792393853808877525, + "duration_s": 0.000229425, + "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": 1792393853808651915, + "ok": true, + "ended_time_ns": 1792393853808660378, + "duration_s": 8.463e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393853808661452, + "ok": true, + "ended_time_ns": 1792393853808664137, + "duration_s": 2.685e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393853808664637, + "ok": true, + "ended_time_ns": 1792393853808667415, + "duration_s": 2.778e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393853808667804, + "ok": true, + "ended_time_ns": 1792393853808866859, + "duration_s": 0.000199055 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393853808867988, + "ok": true, + "ended_time_ns": 1792393853808871896, + "duration_s": 3.908e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393853808872507, + "ok": true, + "ended_time_ns": 1792393853808874711, + "duration_s": 2.204e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393853808875174, + "ok": true, + "ended_time_ns": 1792393853808877118, + "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": 1792393853809571043, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393853633609452, + "frame_age_s": 0.175992091, + "heartbeat_age_s": 0.164043411, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393853809605950, + "duration_s": 3.4907e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393853809607876, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 159.78515625, + "sample_observed_time_ns": 1792393853631651623, + "sample_age_s": 0.177963975, + "heartbeat_age_s": 0.164070633, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393853809618894, + "duration_s": 1.1018e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792393853809619857, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792393853809622394, + "duration_s": 2.537e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792393853809623580, + "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": 1792393853809730172, + "duration_s": 0.000106592 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 58, + "ready_token": "537507834d4e450a85f2494f824b2d19", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.ready.json", + "arm_request_id": "3d19dcfdca3d41d2b4608f05e41e6b85", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1263, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845550245914, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393854131350544, + "capture_count": 1225, + "capture_error_count": 0, + "writer_count": 741, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 159.78515625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 565, + "max_queue_depth": 565, + "read_count": 565, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393854148303843, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393854151934317 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792393853791633986, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21666, + "displayed_count": 19693, + "dropped_count": 1972, + "decode_error_count": 0, + "last_receive_time_ns": 1792393853790979154, + "last_frame_time_ns": 1792393853791349061, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845550245914, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393854131350544, + "capture_count": 1225, + "capture_error_count": 0, + "writer_count": 741, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 159.78515625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 565, + "max_queue_depth": 565, + "read_count": 565, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393854148303843, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393854151934317 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393854239035651, + "ended_time_ns": 1792393854261004763, + "duration_s": 0.000235889, + "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": 1792393854270890707, + "ok": true, + "ended_time_ns": 1792393854270899911, + "duration_s": 9.204e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393854270901855, + "ok": true, + "ended_time_ns": 1792393854270904337, + "duration_s": 2.482e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393854270904763, + "ok": true, + "ended_time_ns": 1792393854270907948, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393854270908337, + "ok": true, + "ended_time_ns": 1792393854271111392, + "duration_s": 0.000203055 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393854271112503, + "ok": true, + "ended_time_ns": 1792393854271116596, + "duration_s": 4.093e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393854271117262, + "ok": true, + "ended_time_ns": 1792393854271119411, + "duration_s": 2.149e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393854271119818, + "ok": true, + "ended_time_ns": 1792393854271122059, + "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。", + "url": "http://192.168.157.33:8765/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_20261019_151054_00222", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "--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_20261019_151054_00222.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151054_00222", + "--control-generation", + "59", + "--ready-token", + "16fdfb8e54114c36b060801767581362", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393854345930964, + "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_20261019_151054_00222.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "timing": { + "server_start_request_time_ns": 1792393854341181788, + "subprocess_popen_time_ns": 1792393854345930964, + "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": 1792393854270886559, + "ended_time_ns": 1792393854271122448, + "duration_s": 0.000235889, + "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": 1792393854270890707, + "ok": true, + "ended_time_ns": 1792393854270899911, + "duration_s": 9.204e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393854270901855, + "ok": true, + "ended_time_ns": 1792393854270904337, + "duration_s": 2.482e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393854270904763, + "ok": true, + "ended_time_ns": 1792393854270907948, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393854270908337, + "ok": true, + "ended_time_ns": 1792393854271111392, + "duration_s": 0.000203055 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393854271112503, + "ok": true, + "ended_time_ns": 1792393854271116596, + "duration_s": 4.093e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393854271117262, + "ok": true, + "ended_time_ns": 1792393854271119411, + "duration_s": 2.149e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393854271119818, + "ok": true, + "ended_time_ns": 1792393854271122059, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 59, + "ready_token": "16fdfb8e54114c36b060801767581362", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1264, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845550245914, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393854131350544, + "capture_count": 1225, + "capture_error_count": 0, + "writer_count": 741, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 159.78515625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 565, + "max_queue_depth": 565, + "read_count": 565, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393854148303843, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393854151934317 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792393853791633986, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21666, + "displayed_count": 19693, + "dropped_count": 1972, + "decode_error_count": 0, + "last_receive_time_ns": 1792393853790979154, + "last_frame_time_ns": 1792393853791349061, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845550245914, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393854131350544, + "capture_count": 1225, + "capture_error_count": 0, + "writer_count": 741, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 159.78515625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 565, + "max_queue_depth": 565, + "read_count": 565, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393854148303843, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393854151934317 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.33:8765/start", + "http_status": 200, + "started_time_ns": 1792393854263379155, + "ended_time_ns": 1792393854348217545 + }, + "pi_start_request_time_ns": 1792393854348223940, + "vive_pid": 3607289, + "vive_stop_file": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/control/stop_left_hand.flag", + "vive_start_time_ns": 1792393854350870200, + "capture_start_time_ns": 1792393857755257462, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792393876721965843, + "capture_stop_time_ns": 1792393877705453537, + "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_20261019_151054_00222", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "--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_20261019_151054_00222.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151054_00222", + "--control-generation", + "59", + "--ready-token", + "16fdfb8e54114c36b060801767581362", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393854345930964, + "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_20261019_151054_00222.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "capture_start_time_ns": 1792393857755257462, + "capture_stop_time_ns": 1792393877705453537, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "timing": { + "server_start_request_time_ns": 1792393854341181788, + "subprocess_popen_time_ns": 1792393854345930964, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792393854363948131, + "validate_start_time_ns": 1792393855322239778, + "session_dir_create_start_time_ns": 1792393854364882389, + "session_dir_create_end_time_ns": 1792393854367340939, + "as5600_init_start_time_ns": 1792393854369040121, + "as5600_init_end_time_ns": 1792393854370242211, + "as5600_zero_start_time_ns": 1792393854372598243, + "as5600_zero_end_time_ns": 1792393855178332178, + "camera_init_start_time_ns": 1792393855180180175, + "camera_init_end_time_ns": 1792393855185551034, + "camera_start_start_time_ns": 1792393855187113642, + "camera_start_end_time_ns": 1792393855189017287, + "camera_first_frame_wait_start_time_ns": 1792393855191158060, + "camera_first_frame_wait_end_time_ns": 1792393855193014630, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393855194541942, + "armed_time_ns": 1792393855321229743, + "waiting_t0_time_ns": 1792393855335328511, + "recording_start_time_ns": 1792393857760338578, + "stop_request_time_ns": 1792393876772914578, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393854270886559, + "ended_time_ns": 1792393854271122448, + "duration_s": 0.000235889, + "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": 1792393854270890707, + "ok": true, + "ended_time_ns": 1792393854270899911, + "duration_s": 9.204e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393854270901855, + "ok": true, + "ended_time_ns": 1792393854270904337, + "duration_s": 2.482e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393854270904763, + "ok": true, + "ended_time_ns": 1792393854270907948, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393854270908337, + "ok": true, + "ended_time_ns": 1792393854271111392, + "duration_s": 0.000203055 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393854271112503, + "ok": true, + "ended_time_ns": 1792393854271116596, + "duration_s": 4.093e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393854271117262, + "ok": true, + "ended_time_ns": 1792393854271119411, + "duration_s": 2.149e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393854271119818, + "ok": true, + "ended_time_ns": 1792393854271122059, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 59, + "ready_token": "16fdfb8e54114c36b060801767581362", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "arm_request_id": "bb9388a364404bacb4d9bc4b1451f4aa", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1264, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "running", + "session_id": "session_20261019_151054_00222", + "generation": 59, + "session_count": 59, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845550245914, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792393854356847071, + "capture_count": 1234, + "capture_error_count": 0, + "writer_count": 741, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 159.78515625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 577, + "max_queue_depth": 577, + "read_count": 577, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393854348309274, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393854360324453 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.33:8765/stop", + "http_status": 200, + "started_time_ns": 1792393876722430932, + "ended_time_ns": 1792393876809623647 + }, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261019_151054_00222", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 439475 + }, + "raw_trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 439171 + }, + "pc_metadata": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 140355 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 432823 + }, + "raw_trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 436897 + }, + "pc_metadata": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 128543 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151054_00222", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "--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_20261019_151054_00222.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151054_00222", + "--control-generation", + "59", + "--ready-token", + "16fdfb8e54114c36b060801767581362", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393877710672670, + "ended_time_ns": 1792393877782204235, + "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_20261019_151054_00222.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "capture_start_time_ns": 1792393857755257462, + "capture_stop_time_ns": 1792393877705453537, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/left_hand", + "timing": { + "server_start_request_time_ns": 1792393854341181788, + "subprocess_popen_time_ns": 1792393854345930964, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792393854363948131, + "validate_start_time_ns": 1792393855322239778, + "session_dir_create_start_time_ns": 1792393854364882389, + "session_dir_create_end_time_ns": 1792393854367340939, + "as5600_init_start_time_ns": 1792393854369040121, + "as5600_init_end_time_ns": 1792393854370242211, + "as5600_zero_start_time_ns": 1792393854372598243, + "as5600_zero_end_time_ns": 1792393855178332178, + "camera_init_start_time_ns": 1792393855180180175, + "camera_init_end_time_ns": 1792393855185551034, + "camera_start_start_time_ns": 1792393855187113642, + "camera_start_end_time_ns": 1792393855189017287, + "camera_first_frame_wait_start_time_ns": 1792393855191158060, + "camera_first_frame_wait_end_time_ns": 1792393855193014630, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393855194541942, + "armed_time_ns": 1792393855321229743, + "waiting_t0_time_ns": 1792393855335328511, + "recording_start_time_ns": 1792393857760338578, + "stop_request_time_ns": 1792393876777409236, + "finalized_time_ns": 1792393877717392289 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393854270886559, + "ended_time_ns": 1792393854271122448, + "duration_s": 0.000235889, + "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": 1792393854270890707, + "ok": true, + "ended_time_ns": 1792393854270899911, + "duration_s": 9.204e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393854270901855, + "ok": true, + "ended_time_ns": 1792393854270904337, + "duration_s": 2.482e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393854270904763, + "ok": true, + "ended_time_ns": 1792393854270907948, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393854270908337, + "ok": true, + "ended_time_ns": 1792393854271111392, + "duration_s": 0.000203055 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393854271112503, + "ok": true, + "ended_time_ns": 1792393854271116596, + "duration_s": 4.093e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393854271117262, + "ok": true, + "ended_time_ns": 1792393854271119411, + "duration_s": 2.149e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393854271119818, + "ok": true, + "ended_time_ns": 1792393854271122059, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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, 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"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": 1792393857755257462, + "capture_stop_time_ns": 1792393877705453537 + }, + "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": 242.6843261685587, + "reference_source": "max_open_init", + "zero_angle_deg": 242.6843261685587, + "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": 5.722e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792393857757235428, + "camera_frame_count": 798, + 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}, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 1197, + "clamp_first_sample_time_ns": 1792393857766986939, + "clamp_last_sample_time_ns": 1792393877700296247, + "clamp_actual_hz": 60.000072317144024, + "clamp_value_min": 98.8083809186113, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 574, + "read_count": 1978, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 4046 + }, + "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/1016-umi/session_20261019_151054_00222/right_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_151054_00222/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..745155388cdc12e96ca2759e6bd6519ca52f0f5b --- /dev/null +++ b/1016-umi/session_20261019_151054_00222/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3885 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792393854181611040, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261019_151054_00222", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/right_hand", + "pc_pi_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151054_00222/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_device": "0", + "camera_width": 1280, + "camera_height": 960, + 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120.0 + }, + "_source": { + "path": "/home/teleai/Tele-UMI/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": "192.168.157.6", + "pi_port": 8765, + "pi_base_url": "http://192.168.157.6:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.157.12", + "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": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151022_00221", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + 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"/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151022_00221", + "--control-generation", + "58", + "--ready-token", + "16c2d39191a64567966c58b8fc32afd2", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393854181996786, + "ended_time_ns": 1792393854227249941, + "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_20261019_151022_00221.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.diagnostics.json", + "capture_start_time_ns": 1792393826205510030, + "capture_stop_time_ns": 1792393844729211517, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151022_00221", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151022_00221/right_hand", + "timing": { + "server_start_request_time_ns": 1792393822780807911, + "subprocess_popen_time_ns": 1792393822786482811, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792393822820800582, + "validate_start_time_ns": 1792393823771964727, + "session_dir_create_start_time_ns": 1792393822821933096, + "session_dir_create_end_time_ns": 1792393822823057665, + "as5600_init_start_time_ns": 1792393822824670472, + "as5600_init_end_time_ns": 1792393822826308780, + "as5600_zero_start_time_ns": 1792393822828338123, + "as5600_zero_end_time_ns": 1792393823634252902, + "camera_init_start_time_ns": 1792393823637167648, + "camera_init_end_time_ns": 1792393823640748373, + "camera_start_start_time_ns": 1792393823642036441, + "camera_start_end_time_ns": 1792393823643467842, + "camera_first_frame_wait_start_time_ns": 1792393823644887021, + "camera_first_frame_wait_end_time_ns": 1792393823646249237, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393823647503139, + "armed_time_ns": 1792393823770845565, + "waiting_t0_time_ns": 1792393823773888366, + "recording_start_time_ns": 1792393826210227455, + "stop_request_time_ns": 1792393843789209453, + "finalized_time_ns": 1792393844739623452 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792393854016567785, + "ended_time_ns": 1792393854018399647, + "duration_s": 0.001831862, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393854016711266, + "ended_time_ns": 1792393854017068764, + "duration_s": 0.000357498, + "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": 1792393854016717154, + "ok": true, + "ended_time_ns": 1792393854016730543, + "duration_s": 1.3389e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393854016732136, + "ok": true, + "ended_time_ns": 1792393854016736747, + "duration_s": 4.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393854016737543, + "ok": true, + "ended_time_ns": 1792393854016742247, + "duration_s": 4.704e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393854016742858, + "ok": true, + "ended_time_ns": 1792393854017050727, + "duration_s": 0.000307869 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393854017052857, + "ok": true, + "ended_time_ns": 1792393854017059449, + "duration_s": 6.592e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393854017060320, + "ok": true, + "ended_time_ns": 1792393854017064079, + "duration_s": 3.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393854017064764, + "ok": true, + "ended_time_ns": 1792393854017067857, + "duration_s": 3.093e-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": 1792393854018155629, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792393853671117414, + "frame_age_s": 0.347079178, + "heartbeat_age_s": 0.331870451, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393854018203574, + "duration_s": 4.7945e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792393854018206518, + "status_ok": true, + "gap_mm": 83.69481721298956, + "reference_angle_deg": 243.36914062499994, + "sample_observed_time_ns": 1792393853683630598, + "sample_age_s": 0.334587124, + "heartbeat_age_s": 0.33190871, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792393854018222240, + "duration_s": 1.5722e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792393854018223629, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792393854018226962, + "duration_s": 3.333e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792393854018228407, + "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": 1792393854018397202, + "duration_s": 0.000168795 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 58, + "ready_token": "16c2d39191a64567966c58b8fc32afd2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151022_00221.ready.json", + "arm_request_id": "3d19dcfdca3d41d2b4608f05e41e6b85", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2090, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845557308401, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393854171622198, + "capture_count": 1220, + "capture_error_count": 0, + "writer_count": 739, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.36914062499994, + "gripper_gap_mm": 83.69481721298956, + "status_ok": true, + "queue_size": 600, + "queue_depth": 567, + "max_queue_depth": 567, + "read_count": 567, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393854183630366, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393854191012407 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792393853188736956, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21637, + "displayed_count": 14347, + "dropped_count": 7288, + "decode_error_count": 0, + "last_receive_time_ns": 1792393853179057536, + "last_frame_time_ns": 1792393853049973191, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845557308401, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393854171622198, + "capture_count": 1220, + "capture_error_count": 0, + "writer_count": 739, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.36914062499994, + "gripper_gap_mm": 83.69481721298956, + "status_ok": true, + "queue_size": 600, + "queue_depth": 567, + "max_queue_depth": 567, + "read_count": 567, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393854183630366, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393854191012407 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393854229089228, + "ended_time_ns": 1792393854250681525, + "duration_s": 0.000222703, + "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": 1792393854258683213, + "ok": true, + "ended_time_ns": 1792393854258691973, + "duration_s": 8.76e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393854258693676, + "ok": true, + "ended_time_ns": 1792393854258696658, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393854258697158, + "ok": true, + "ended_time_ns": 1792393854258700084, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393854258700510, + "ok": true, + "ended_time_ns": 1792393854258891046, + "duration_s": 0.000190536 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393854258892009, + "ok": true, + "ended_time_ns": 1792393854258895749, + "duration_s": 3.74e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393854258896305, + "ok": true, + "ended_time_ns": 1792393854258898731, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393854258899175, + "ok": true, + "ended_time_ns": 1792393854258901138, + "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。", + "url": "http://192.168.157.6:8765/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_20261019_151054_00222", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "--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_20261019_151054_00222.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151054_00222", + "--control-generation", + "59", + "--ready-token", + "91077587240b44569cf6ceba0c22cf12", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393854286722717, + "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_20261019_151054_00222.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/right_hand", + "timing": { + "server_start_request_time_ns": 1792393854281634036, + "subprocess_popen_time_ns": 1792393854286722717, + "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": 1792393854258679028, + "ended_time_ns": 1792393854258901731, + "duration_s": 0.000222703, + "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": 1792393854258683213, + "ok": true, + "ended_time_ns": 1792393854258691973, + "duration_s": 8.76e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393854258693676, + "ok": true, + "ended_time_ns": 1792393854258696658, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393854258697158, + "ok": true, + "ended_time_ns": 1792393854258700084, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393854258700510, + "ok": true, + "ended_time_ns": 1792393854258891046, + "duration_s": 0.000190536 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393854258892009, + "ok": true, + "ended_time_ns": 1792393854258895749, + "duration_s": 3.74e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393854258896305, + "ok": true, + "ended_time_ns": 1792393854258898731, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393854258899175, + "ok": true, + "ended_time_ns": 1792393854258901138, + "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。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 59, + "ready_token": "91077587240b44569cf6ceba0c22cf12", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2091, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845557308401, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393854171622198, + "capture_count": 1220, + "capture_error_count": 0, + "writer_count": 739, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.36914062499994, + "gripper_gap_mm": 83.69481721298956, + "status_ok": true, + "queue_size": 600, + "queue_depth": 567, + "max_queue_depth": 567, + "read_count": 567, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393854183630366, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393854191012407 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792393854268705094, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 21646, + "displayed_count": 14354, + "dropped_count": 7291, + "decode_error_count": 0, + "last_receive_time_ns": 1792393854203859405, + "last_frame_time_ns": 1792393854268463132, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151022_00221", + "generation": 58, + "session_count": 58, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845557308401, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393854171622198, + "capture_count": 1220, + "capture_error_count": 0, + "writer_count": 739, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.36914062499994, + "gripper_gap_mm": 83.69481721298956, + "status_ok": true, + "queue_size": 600, + "queue_depth": 567, + "max_queue_depth": 567, + "read_count": 567, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393854183630366, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393854191012407 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.6:8765/start", + "http_status": 200, + "started_time_ns": 1792393854253842101, + "ended_time_ns": 1792393854290081238 + }, + "pi_start_request_time_ns": 1792393854290085574, + "capture_start_time_ns": 1792393857755257462, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792393876804847436, + "capture_stop_time_ns": 1792393877705453537, + "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_20261019_151054_00222", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "--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_20261019_151054_00222.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151054_00222", + "--control-generation", + "59", + "--ready-token", + "91077587240b44569cf6ceba0c22cf12", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393854286722717, + "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_20261019_151054_00222.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "capture_start_time_ns": 1792393857755257462, + "capture_stop_time_ns": 1792393877705453537, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222/right_hand", + "timing": { + "server_start_request_time_ns": 1792393854281634036, + "subprocess_popen_time_ns": 1792393854286722717, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792393854302323313, + "validate_start_time_ns": 1792393855341696134, + "session_dir_create_start_time_ns": 1792393854303128624, + "session_dir_create_end_time_ns": 1792393854304099305, + "as5600_init_start_time_ns": 1792393854305690779, + "as5600_init_end_time_ns": 1792393854306584572, + "as5600_zero_start_time_ns": 1792393854308331397, + "as5600_zero_end_time_ns": 1792393855113564772, + "camera_init_start_time_ns": 1792393855116701314, + "camera_init_end_time_ns": 1792393855122757620, + "camera_start_start_time_ns": 1792393855123872134, + "camera_start_end_time_ns": 1792393855125602718, + "camera_first_frame_wait_start_time_ns": 1792393855127346951, + "camera_first_frame_wait_end_time_ns": 1792393855129133258, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393855130724436, + "armed_time_ns": 1792393855340335326, + "waiting_t0_time_ns": 1792393855343986939, + "recording_start_time_ns": 1792393857757253798, + "stop_request_time_ns": 1792393876952214244, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393854258679028, + "ended_time_ns": 1792393854258901731, + "duration_s": 0.000222703, + "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": 1792393854258683213, + "ok": true, + "ended_time_ns": 1792393854258691973, + "duration_s": 8.76e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393854258693676, + "ok": true, + "ended_time_ns": 1792393854258696658, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393854258697158, + "ok": true, + "ended_time_ns": 1792393854258700084, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393854258700510, + "ok": true, + "ended_time_ns": 1792393854258891046, + "duration_s": 0.000190536 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393854258892009, + "ok": true, + "ended_time_ns": 1792393854258895749, + "duration_s": 3.74e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393854258896305, + "ok": true, + "ended_time_ns": 1792393854258898731, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393854258899175, + "ok": true, + "ended_time_ns": 1792393854258901138, + "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。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 59, + "ready_token": "91077587240b44569cf6ceba0c22cf12", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "arm_request_id": "bb9388a364404bacb4d9bc4b1451f4aa", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2091, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "running", + "session_id": "session_20261019_151054_00222", + "generation": 59, + "session_count": 59, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 58, + "last_bootstrap_time_ns": 1792393845557308401, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393854294074110, + "capture_count": 1225, + "capture_error_count": 0, + "writer_count": 739, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.36914062499994, + "gripper_gap_mm": 83.69481721298956, + "status_ok": true, + "queue_size": 600, + "queue_depth": 573, + "max_queue_depth": 573, + "read_count": 573, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393854283639934, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393854297473224 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.6:8765/stop", + "http_status": 200, + "started_time_ns": 1792393876805143627, + "ended_time_ns": 1792393877026253201 + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151054_00222", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151054_00222", + "--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_20261019_151054_00222.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151054_00222", + "--control-generation", + "59", + "--ready-token", + "91077587240b44569cf6ceba0c22cf12", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792393879229379433, + "ended_time_ns": 1792393879267083025, + "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_20261019_151054_00222.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.diagnostics.json", + 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1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792393854302323313, + "validate_start_time_ns": 1792393855341696134, + "session_dir_create_start_time_ns": 1792393854303128624, + "session_dir_create_end_time_ns": 1792393854304099305, + "as5600_init_start_time_ns": 1792393854305690779, + "as5600_init_end_time_ns": 1792393854306584572, + "as5600_zero_start_time_ns": 1792393854308331397, + "as5600_zero_end_time_ns": 1792393855113564772, + "camera_init_start_time_ns": 1792393855116701314, + "camera_init_end_time_ns": 1792393855122757620, + "camera_start_start_time_ns": 1792393855123872134, + "camera_start_end_time_ns": 1792393855125602718, + "camera_first_frame_wait_start_time_ns": 1792393855127346951, + "camera_first_frame_wait_end_time_ns": 1792393855129133258, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792393855130724436, + "armed_time_ns": 1792393855340335326, + "waiting_t0_time_ns": 1792393855343986939, + "recording_start_time_ns": 1792393857757253798, + "stop_request_time_ns": 1792393876960745168, + "finalized_time_ns": 1792393877712424896 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792393854258679028, + "ended_time_ns": 1792393854258901731, + "duration_s": 0.000222703, + "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": 1792393854258683213, + "ok": true, + "ended_time_ns": 1792393854258691973, + "duration_s": 8.76e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792393854258693676, + "ok": true, + "ended_time_ns": 1792393854258696658, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792393854258697158, + "ok": true, + "ended_time_ns": 1792393854258700084, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792393854258700510, + "ok": true, + "ended_time_ns": 1792393854258891046, + "duration_s": 0.000190536 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792393854258892009, + "ok": true, + "ended_time_ns": 1792393854258895749, + "duration_s": 3.74e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792393854258896305, + "ok": true, + "ended_time_ns": 1792393854258898731, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792393854258899175, + "ok": true, + "ended_time_ns": 1792393854258901138, + "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。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 59, + "ready_token": "91077587240b44569cf6ceba0c22cf12", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151054_00222.ready.json", + "arm_request_id": "bb9388a364404bacb4d9bc4b1451f4aa", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2091, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151054_00222", + "generation": 59, + "session_count": 59, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 59, + "last_bootstrap_time_ns": 1792393878521175015, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792393879028326676, + "capture_count": 958, + "capture_error_count": 0, + "writer_count": 798, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 244.423828125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 79, + "max_queue_depth": 79, + "read_count": 79, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792393879019185643, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792393879031014331 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + 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[ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 63, + "ready_token": "2d6f3c781a5f4492bd192dc183d5298b", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.ready.json", + "arm_request_id": "9bbda0da121b4559a1a2898931806de2", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1268, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043040459511, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394047085016395, + "capture_count": 1109, + "capture_error_count": 0, + "writer_count": 809, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 168.134765625, + "gripper_gap_mm": 84.83685215162367, + "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": 1792394047088417981, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047103669283 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394046859342645, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 23363, + "displayed_count": 21098, + "dropped_count": 2264, + "decode_error_count": 0, + "last_receive_time_ns": 1792394046771223341, + "last_frame_time_ns": 1792394046763441912, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043040459511, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394047085016395, + "capture_count": 1109, + "capture_error_count": 0, + "writer_count": 809, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 168.134765625, + "gripper_gap_mm": 84.83685215162367, + "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": 1792394047088417981, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047103669283 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "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": 1792394047372921127, + "ended_time_ns": 1792394047408688321, + "duration_s": 0.001233423, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394047417279949, + "ended_time_ns": 1792394047417520726, + "duration_s": 0.000240777, + "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": 1792394047417284097, + "ok": true, + "ended_time_ns": 1792394047417293042, + "duration_s": 8.945e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047417294042, + "ok": true, + "ended_time_ns": 1792394047417296690, + "duration_s": 2.648e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047417297134, + "ok": true, + "ended_time_ns": 1792394047417300153, + "duration_s": 3.019e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047417300560, + "ok": true, + "ended_time_ns": 1792394047417509523, + "duration_s": 0.000208963 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047417510467, + "ok": true, + "ended_time_ns": 1792394047417514874, + "duration_s": 4.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047417515615, + "ok": true, + "ended_time_ns": 1792394047417517930, + "duration_s": 2.315e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047417518337, + "ok": true, + "ended_time_ns": 1792394047417520319, + "duration_s": 1.982e-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": 1792394047418241929, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394047085016395, + "frame_age_s": 0.333258941, + "heartbeat_age_s": 0.314587238, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394047418280299, + "duration_s": 3.837e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394047418282058, + "status_ok": true, + "gap_mm": 84.83685215162367, + "reference_angle_deg": 168.134765625, + "sample_observed_time_ns": 1792394047088417981, + "sample_age_s": 0.329872577, + "heartbeat_age_s": 0.314615812, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394047418294391, + "duration_s": 1.2333e-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": 1792394047418299114, + "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": 1792394047418414095, + "duration_s": 0.000114981 + } + }, + "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://192.168.157.33:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792394047408699332, + "ended_time_ns": 1792394047521072732, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-817EC589\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-817EC589", + "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": "192.168.157.6", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "requested_tracker_serial": "LHR-4F99A346", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151338_00226", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151338_00226", + "--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_20261019_151338_00226.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151338_00226", + "--control-generation", + "63", + "--ready-token", + "faa50fa2426a42baa6926ee4a784ebc7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394047521086021, + "ended_time_ns": 1792394047547237073, + "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_20261019_151338_00226.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.diagnostics.json", + "capture_start_time_ns": 1792394022010461572, + "capture_stop_time_ns": 1792394042224910114, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151338_00226", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151338_00226/right_hand", + "timing": { + "server_start_request_time_ns": 1792394018528144960, + "subprocess_popen_time_ns": 1792394018533550343, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394018578451845, + "validate_start_time_ns": 1792394019594980751, + "session_dir_create_start_time_ns": 1792394018579502266, + "session_dir_create_end_time_ns": 1792394018580675428, + "as5600_init_start_time_ns": 1792394018582224865, + "as5600_init_end_time_ns": 1792394018643634996, + "as5600_zero_start_time_ns": 1792394018645696820, + "as5600_zero_end_time_ns": 1792394019450938769, + "camera_init_start_time_ns": 1792394019452437040, + "camera_init_end_time_ns": 1792394019454318754, + "camera_start_start_time_ns": 1792394019457062779, + "camera_start_end_time_ns": 1792394019458409773, + "camera_first_frame_wait_start_time_ns": 1792394019459770489, + "camera_first_frame_wait_end_time_ns": 1792394019461775147, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394019463070604, + "armed_time_ns": 1792394019593680312, + "waiting_t0_time_ns": 1792394019597008982, + "recording_start_time_ns": 1792394022011723501, + "stop_request_time_ns": 1792394041267199730, + "finalized_time_ns": 1792394042232985494 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394018497107415, + "ended_time_ns": 1792394018497579839, + "duration_s": 0.000472424, + "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": 1792394018497112933, + "ok": true, + "ended_time_ns": 1792394018497124359, + "duration_s": 1.1426e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394018497127322, + "ok": true, + "ended_time_ns": 1792394018497131656, + "duration_s": 4.334e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394018497132341, + "ok": true, + "ended_time_ns": 1792394018497136322, + "duration_s": 3.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394018497136933, + "ok": true, + "ended_time_ns": 1792394018497562746, + "duration_s": 0.000425813 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394018497564857, + "ok": true, + "ended_time_ns": 1792394018497571357, + "duration_s": 6.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394018497572413, + "ok": true, + "ended_time_ns": 1792394018497575654, + "duration_s": 3.241e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394018497576265, + "ok": true, + "ended_time_ns": 1792394018497579024, + "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。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 63, + "ready_token": "faa50fa2426a42baa6926ee4a784ebc7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.ready.json", + "arm_request_id": "9bbda0da121b4559a1a2898931806de2", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2095, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043042172518, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394047072881892, + "capture_count": 1082, + "capture_error_count": 0, + "writer_count": 785, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.45703125, + "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": 1792394047090221444, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047094418055 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394046996370811, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 23336, + "displayed_count": 15257, + "dropped_count": 8078, + "decode_error_count": 0, + "last_receive_time_ns": 1792394046904196448, + "last_frame_time_ns": 1792394046941006301, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043042172518, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394047072881892, + "capture_count": 1082, + "capture_error_count": 0, + "writer_count": 785, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.45703125, + "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": 1792394047090221444, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047094418055 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "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": 1792394047606138438, + "ended_time_ns": 1792394047630483241, + "duration_s": 0.001567437, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394047638963104, + "ended_time_ns": 1792394047639257750, + "duration_s": 0.000294646, + "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": 1792394047638967955, + "ok": true, + "ended_time_ns": 1792394047638978252, + "duration_s": 1.0297e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047638979881, + "ok": true, + "ended_time_ns": 1792394047638983918, + "duration_s": 4.037e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047638984640, + "ok": true, + "ended_time_ns": 1792394047638988770, + "duration_s": 4.13e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047638989363, + "ok": true, + "ended_time_ns": 1792394047639243362, + "duration_s": 0.000253999 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047639244806, + "ok": true, + "ended_time_ns": 1792394047639250047, + "duration_s": 5.241e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047639250880, + "ok": true, + "ended_time_ns": 1792394047639254195, + "duration_s": 3.315e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047639254713, + "ok": true, + "ended_time_ns": 1792394047639257102, + "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": 1792394047640135672, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394047571882461, + "frame_age_s": 0.068295693, + "heartbeat_age_s": 0.038436272, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394047640184450, + "duration_s": 4.8778e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394047640187191, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 243.45703125, + "sample_observed_time_ns": 1792394047592398295, + "sample_age_s": 0.047799988, + "heartbeat_age_s": 0.038474642, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394047640203191, + "duration_s": 1.6e-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": 1792394047640209653, + "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": 1792394047640403782, + "duration_s": 0.000194129 + } + }, + "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://192.168.157.6:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792394047630500248, + "ended_time_ns": 1792394047766460455, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-4F99A346\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "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": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_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/teleai/Tele-UMI/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792394141794591636, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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": "192.168.157.33", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_115d2be021355e8d.sock zhang@192.168.157.33 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/left_hand'", + "returncode": 0, + "started_time_ns": 1792394136961748932, + "ended_time_ns": 1792394136980463840, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_115d2be021355e8d.sock' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792394136980605355, + "ended_time_ns": 1792394137066143347, + "transferred_bytes": 13585, + "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: 13,585 bytes\nTotal transferred file size: 13,585 bytes\nLiteral data: 13,585 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: 13,721\n\nsent 46 bytes received 13,721 bytes 9,178.00 bytes/sec\ntotal size is 13,585 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_115d2be021355e8d.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/left_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/", + "returncode": 0, + "started_time_ns": 1792394137066341784, + "ended_time_ns": 1792394141794082876, + "transferred_bytes": 26701428, + "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: 26,701,428 bytes\nTotal transferred file size: 26,701,428 bytes\nLiteral data: 26,701,428 bytes\nMatched data: 0 bytes\nFile list size: 234\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 26,708,364\n\nsent 168 bytes received 26,708,364 bytes 5,935,229.33 bytes/sec\ntotal size is 26,701,428 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 26715013, + "copied_local_bytes": 27777108, + "started_time_ns": 1792394136961254581, + "ended_time_ns": 1792394141794246156 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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": "192.168.157.6", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_712157583ba61b4a.sock zhang@192.168.157.6 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/right_hand'", + "returncode": 0, + "started_time_ns": 1792394136961791882, + "ended_time_ns": 1792394136984821721, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_712157583ba61b4a.sock' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/right_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792394136984885870, + "ended_time_ns": 1792394137058730958, + "transferred_bytes": 13608, + "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: 13,608 bytes\nTotal transferred file size: 13,608 bytes\nLiteral data: 13,608 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: 13,744\n\nsent 46 bytes received 13,744 bytes 9,193.33 bytes/sec\ntotal size is 13,608 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_712157583ba61b4a.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/right_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/", + "returncode": 0, + "started_time_ns": 1792394137058890219, + "ended_time_ns": 1792394140873970333, + "transferred_bytes": 19443236, + "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: 19,443,236 bytes\nTotal transferred file size: 19,443,236 bytes\nLiteral data: 19,443,236 bytes\nMatched data: 0 bytes\nFile list size: 221\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 19,448,383\n\nsent 168 bytes received 19,448,383 bytes 5,556,728.86 bytes/sec\ntotal size is 19,443,236 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 19456844, + "copied_local_bytes": 20497219, + "started_time_ns": 1792394136961357397, + "ended_time_ns": 1792394140874205843 + }, + "error": null + } + }, + "pi_integrated_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227", + "pi_integrated_dirs": { + "left_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "right_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand" + }, + "pi_integrated_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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": "1016-umi", + "session_id": "session_20261019_151407_00227", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792466288110389073, + "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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792466287639281999, + "ended_time_ns": 1792466288110174471, + "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": 1792466287639281999, + "ended_time_ns": 1792466287880141844, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_151407_00227", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.33", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_151407_00227 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.33 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151407_00227\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792394051557149653\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792394051557149653，vive_T0=1792394051557149653，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394071527479813，vive_Tstop=1792394071527479813，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007702s，first=1792394051564851751，T0=1792394051557149653，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002662s，last=1792394071524817579，Tstop=1792394071527479813，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3993\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: 200.0003424053958 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0003424053958 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 3993，metadata 3993\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00034362913166 Hz，最低 150.0 Hz，时长 19.959965705871582 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00034362913166 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=0.007025241851806641s，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 0.9999999992180431..1.0000000008170569，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.01815006107202435m，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=1.934876135888032deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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=800 duration=20.0s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=800，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 800，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=799，rows=800，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=800，monotonic违规=0，估算频率=40.02849974073468Hz，最大间隔=0.032596027s；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: 800，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02849992723295 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: 40.02849992723295 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=0.032594416s，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 1198，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 98.6564..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: 1198，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999949750418025 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: 59.999949750418025 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=0.023377046s，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=1198，bad_rows=0，monotonic违规=0，估算频率=59.99994340456466Hz，最大间隔=0.023374582s；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 800，metadata 800\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1198，metadata 1198\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 800，timestamps 800，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=800，timestamps=800，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=0.039s，video=20.0s，timestamps=19.960777982s\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=0.011s，camera=19.960777982s，clamp=19.950016708s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792394051557149653，pi_T0=1792394051557149653，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394071527479813，pi_Tstop=1792394071527479813，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.001863s，first=1792394051559012248，T0=1792394051557149653，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.014607s，first=1792394051571756611，T0=1792394051557149653，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.007690s，last=1792394071519790230，Tstop=1792394071527479813，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005706s，last=1792394071521773319，Tstop=1792394071527479813，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.000812s，vive=19.959965828s，camera=19.960777982s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.009949s，vive=19.959965828s，clamp=19.950016708s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005840s，vive_first=1792394051564851751，camera_first=1792394051559012248，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.006905s，vive_first=1792394051564851751，clamp_first=1792394051571756611，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.005027s，vive_last=1792394071524817579，camera_last=1792394071519790230，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003044s，vive_last=1792394071524817579，clamp_last=1792394071521773319，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_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": 1792466287880404289, + "ended_time_ns": 1792466288110174471, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_151407_00227", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.6", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_151407_00227 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.6 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151407_00227\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792394051557149653\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792394051557149653，vive_T0=1792394051557149653，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394071527479813，vive_Tstop=1792394071527479813，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007702s，first=1792394051564851751，T0=1792394051557149653，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002662s，last=1792394071524817579，Tstop=1792394071527479813，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3993\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: 200.0003424053958 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0003424053958 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 3993，metadata 3993\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00034362913166 Hz，最低 150.0 Hz，时长 19.959965705871582 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00034362913166 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=0.007025241851806641s，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 0.9999999993296212..1.0000000006561163，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.008022787746974486m，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=1.9454715276958743deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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=799 duration=19.975s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=799，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 799，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=798，rows=799，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=799，monotonic违规=0，估算频率=40.02527735500771Hz，最大间隔=0.034300309s；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: 799，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.025277242585055 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: 40.025277242585055 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=0.034300642s，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 1198，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 95.5345..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: 1198，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00000141654139 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: 60.00000141654139 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=0.020837888s，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=1198，bad_rows=0，monotonic违规=0，估算频率=60.00000386766943Hz，最大间隔=0.020839054s；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 799，metadata 799\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1198，metadata 1198\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 799，timestamps 799，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=799，timestamps=799，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=0.038s，video=19.975s，timestamps=19.937400937s\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=0.013s，camera=19.937400937s，clamp=19.949999529s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792394051557149653，pi_T0=1792394051557149653，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394071527479813，pi_Tstop=1792394071527479813，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.012074s，first=1792394051569224097，T0=1792394051557149653，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.016410s，first=1792394051573560114，T0=1792394051557149653，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.020855s，last=1792394071506625034，Tstop=1792394071527479813，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.003920s，last=1792394071523559643，Tstop=1792394071527479813，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.022565s，vive=19.959965828s，camera=19.937400937s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.009966s，vive=19.959965828s，clamp=19.949999529s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.004372s，vive_first=1792394051564851751，camera_first=1792394051569224097，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.008708s，vive_first=1792394051564851751，clamp_first=1792394051573560114，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.018193s，vive_last=1792394071524817579，camera_last=1792394071506625034，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.001258s，vive_last=1792394071524817579，clamp_last=1792394071523559643，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151407_00227\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792394051557149653\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792394051557149653，vive_T0=1792394051557149653，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394071527479813，vive_Tstop=1792394071527479813，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007702s，first=1792394051564851751，T0=1792394051557149653，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002662s，last=1792394071524817579，Tstop=1792394071527479813，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3993\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: 200.0003424053958 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0003424053958 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 3993，metadata 3993\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00034362913166 Hz，最低 150.0 Hz，时长 19.959965705871582 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00034362913166 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=0.007025241851806641s，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 0.9999999992180431..1.0000000008170569，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.01815006107202435m，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=1.934876135888032deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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=800 duration=20.0s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=800，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 800，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=799，rows=800，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=800，monotonic违规=0，估算频率=40.02849974073468Hz，最大间隔=0.032596027s；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: 800，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02849992723295 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: 40.02849992723295 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=0.032594416s，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 1198，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 98.6564..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: 1198，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999949750418025 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: 59.999949750418025 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=0.023377046s，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=1198，bad_rows=0，monotonic违规=0，估算频率=59.99994340456466Hz，最大间隔=0.023374582s；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 800，metadata 800\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1198，metadata 1198\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 800，timestamps 800，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=800，timestamps=800，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=0.039s，video=20.0s，timestamps=19.960777982s\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=0.011s，camera=19.960777982s，clamp=19.950016708s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792394051557149653，pi_T0=1792394051557149653，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394071527479813，pi_Tstop=1792394071527479813，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.001863s，first=1792394051559012248，T0=1792394051557149653，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.014607s，first=1792394051571756611，T0=1792394051557149653，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.007690s，last=1792394071519790230，Tstop=1792394071527479813，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005706s，last=1792394071521773319，Tstop=1792394071527479813，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.000812s，vive=19.959965828s，camera=19.960777982s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.009949s，vive=19.959965828s，clamp=19.950016708s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005840s，vive_first=1792394051564851751，camera_first=1792394051559012248，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.006905s，vive_first=1792394051564851751，clamp_first=1792394051571756611，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.005027s，vive_last=1792394071524817579，camera_last=1792394071519790230，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003044s，vive_last=1792394071524817579，clamp_last=1792394071521773319，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151407_00227\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792394051557149653\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792394051557149653，vive_T0=1792394051557149653，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394071527479813，vive_Tstop=1792394071527479813，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007702s，first=1792394051564851751，T0=1792394051557149653，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002662s，last=1792394071524817579，Tstop=1792394071527479813，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3993\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: 200.0003424053958 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0003424053958 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 3993，metadata 3993\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00034362913166 Hz，最低 150.0 Hz，时长 19.959965705871582 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00034362913166 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=0.007025241851806641s，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 0.9999999993296212..1.0000000006561163，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.008022787746974486m，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=1.9454715276958743deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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=799 duration=19.975s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=799，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 799，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=798，rows=799，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=799，monotonic违规=0，估算频率=40.02527735500771Hz，最大间隔=0.034300309s；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: 799，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.025277242585055 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: 40.025277242585055 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=0.034300642s，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 1198，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 95.5345..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: 1198，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00000141654139 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: 60.00000141654139 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=0.020837888s，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=1198，bad_rows=0，monotonic违规=0，估算频率=60.00000386766943Hz，最大间隔=0.020839054s；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 799，metadata 799\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1198，metadata 1198\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 799，timestamps 799，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=799，timestamps=799，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=0.038s，video=19.975s，timestamps=19.937400937s\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=0.013s，camera=19.937400937s，clamp=19.949999529s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792394051557149653，pi_T0=1792394051557149653，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394071527479813，pi_Tstop=1792394071527479813，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.012074s，first=1792394051569224097，T0=1792394051557149653，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.016410s，first=1792394051573560114，T0=1792394051557149653，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.020855s，last=1792394071506625034，Tstop=1792394071527479813，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.003920s，last=1792394071523559643，Tstop=1792394071527479813，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.022565s，vive=19.959965828s，camera=19.937400937s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.009966s，vive=19.959965828s，clamp=19.949999529s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.004372s，vive_first=1792394051564851751，camera_first=1792394051569224097，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.008708s，vive_first=1792394051564851751，clamp_first=1792394051573560114，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.018193s，vive_last=1792394071524817579，camera_last=1792394071506625034，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.001258s，vive_last=1792394071524817579，clamp_last=1792394071523559643，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151407_00227_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": 1792466286522136317 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_151407_00227/control/stop_left_hand.flag b/1016-umi/session_20261019_151407_00227/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..dca5083552350faaf13661ca1fbab2c5f4279103 --- /dev/null +++ b/1016-umi/session_20261019_151407_00227/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792394071527479813 \ No newline at end of file diff --git a/1016-umi/session_20261019_151407_00227/left_hand/Clamp_Data/clamp_data_tum.txt b/1016-umi/session_20261019_151407_00227/left_hand/Clamp_Data/clamp_data_tum.txt new 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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": 168.04687500000003, + "reference_source": "max_open_init", + "zero_angle_deg": 168.04687500000003, + "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": 9.592e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792394051562196853, + "camera_frame_count": 800, + "camera_started_time_ns": 1792394048841194215, + "camera_stopped_time_ns": 1792394071533380481, + "camera_actual_fps": 35.254425934210246, + "camera_first_frame_time_ns": 1792394051559012248, + "camera_last_frame_time_ns": 1792394071519790230, + "camera_frame_timestamp_fps": 40.02849992723295, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792391342354568971, + "stream_last_frame_time_ns": 1792394071519790230, + "capture_count": 908, + "capture_error_count": 0, + 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}, + "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/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2e670e3a860e24a5ce3623462dc82287aa989a59 --- /dev/null +++ b/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4272 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792394047842183912, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261019_151407_00227", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "pc_pi_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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 + }, + 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"camera_first_frame_wait_end_time_ns": 1792394019410571094, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394019411769962, + "armed_time_ns": 1792394019578991237, + "waiting_t0_time_ns": 1792394019581431751, + "recording_start_time_ns": 1792394022015034763, + "stop_request_time_ns": 1792394041365268473, + "finalized_time_ns": 1792394042229153514 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792394047417182468, + "ended_time_ns": 1792394047418415891, + "duration_s": 0.001233423, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394047417279949, + "ended_time_ns": 1792394047417520726, + "duration_s": 0.000240777, + "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": 1792394047417284097, + "ok": true, + "ended_time_ns": 1792394047417293042, + "duration_s": 8.945e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047417294042, + "ok": true, + "ended_time_ns": 1792394047417296690, + "duration_s": 2.648e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047417297134, + "ok": true, + "ended_time_ns": 1792394047417300153, + "duration_s": 3.019e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047417300560, + "ok": true, + "ended_time_ns": 1792394047417509523, + "duration_s": 0.000208963 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047417510467, + "ok": true, + "ended_time_ns": 1792394047417514874, + "duration_s": 4.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047417515615, + "ok": true, + "ended_time_ns": 1792394047417517930, + "duration_s": 2.315e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047417518337, + "ok": true, + "ended_time_ns": 1792394047417520319, + "duration_s": 1.982e-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": 1792394047418241929, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394047085016395, + "frame_age_s": 0.333258941, + "heartbeat_age_s": 0.314587238, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394047418280299, + "duration_s": 3.837e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394047418282058, + "status_ok": true, + "gap_mm": 84.83685215162367, + "reference_angle_deg": 168.134765625, + "sample_observed_time_ns": 1792394047088417981, + "sample_age_s": 0.329872577, + "heartbeat_age_s": 0.314615812, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394047418294391, + "duration_s": 1.2333e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792394047418295410, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792394047418297984, + "duration_s": 2.574e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792394047418299114, + "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": 1792394047418414095, + "duration_s": 0.000114981 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 63, + "ready_token": "2d6f3c781a5f4492bd192dc183d5298b", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.ready.json", + "arm_request_id": "9bbda0da121b4559a1a2898931806de2", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1268, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043040459511, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394047609582858, + "capture_count": 1130, + "capture_error_count": 0, + "writer_count": 809, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 168.134765625, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 323, + "max_queue_depth": 323, + "read_count": 323, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394047605088164, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047610335561 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394046859342645, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 23363, + "displayed_count": 21098, + "dropped_count": 2264, + "decode_error_count": 0, + "last_receive_time_ns": 1792394046771223341, + "last_frame_time_ns": 1792394046763441912, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043040459511, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394047609582858, + "capture_count": 1130, + "capture_error_count": 0, + "writer_count": 809, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 168.134765625, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 323, + "max_queue_depth": 323, + "read_count": 323, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394047605088164, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047610335561 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394047901756095, + "ended_time_ns": 1792394047922502961, + "duration_s": 0.000671277, + "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": 1792394047933969262, + "ok": true, + "ended_time_ns": 1792394047933996762, + "duration_s": 2.75e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047934002928, + "ok": true, + "ended_time_ns": 1792394047934010206, + "duration_s": 7.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047934011373, + "ok": true, + "ended_time_ns": 1792394047934018150, + "duration_s": 6.777e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047934018687, + "ok": true, + "ended_time_ns": 1792394047934607927, + "duration_s": 0.00058924 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047934611427, + "ok": true, + "ended_time_ns": 1792394047934619983, + "duration_s": 8.556e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047934621020, + "ok": true, + "ended_time_ns": 1792394047934624797, + "duration_s": 3.777e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047934625668, + "ok": true, + "ended_time_ns": 1792394047934628297, + "duration_s": 2.629e-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://192.168.157.33:8765/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_20261019_151407_00227", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "--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_20261019_151407_00227.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151407_00227", + "--control-generation", + "64", + "--ready-token", + "8b7d303e92c04687b2e079f2b2d57a67", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394047971071076, + "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_20261019_151407_00227.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "timing": { + "server_start_request_time_ns": 1792394047965857346, + "subprocess_popen_time_ns": 1792394047971071076, + "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": 1792394047933957780, + "ended_time_ns": 1792394047934629057, + "duration_s": 0.000671277, + "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": 1792394047933969262, + "ok": true, + "ended_time_ns": 1792394047933996762, + "duration_s": 2.75e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047934002928, + "ok": true, + "ended_time_ns": 1792394047934010206, + "duration_s": 7.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047934011373, + "ok": true, + "ended_time_ns": 1792394047934018150, + "duration_s": 6.777e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047934018687, + "ok": true, + "ended_time_ns": 1792394047934607927, + "duration_s": 0.00058924 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047934611427, + "ok": true, + "ended_time_ns": 1792394047934619983, + "duration_s": 8.556e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047934621020, + "ok": true, + "ended_time_ns": 1792394047934624797, + "duration_s": 3.777e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047934625668, + "ok": true, + "ended_time_ns": 1792394047934628297, + "duration_s": 2.629e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 64, + "ready_token": "8b7d303e92c04687b2e079f2b2d57a67", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1269, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043040459511, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394047609582858, + "capture_count": 1130, + "capture_error_count": 0, + "writer_count": 809, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 168.134765625, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 323, + "max_queue_depth": 323, + "read_count": 323, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394047605088164, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047610335561 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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, + 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+ "ended_time_ns": 1792394047934010206, + "duration_s": 7.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047934011373, + "ok": true, + "ended_time_ns": 1792394047934018150, + "duration_s": 6.777e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047934018687, + "ok": true, + "ended_time_ns": 1792394047934607927, + "duration_s": 0.00058924 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047934611427, + "ok": true, + "ended_time_ns": 1792394047934619983, + "duration_s": 8.556e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047934621020, + "ok": true, + "ended_time_ns": 1792394047934624797, + "duration_s": 3.777e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047934625668, + "ok": true, + "ended_time_ns": 1792394047934628297, + "duration_s": 2.629e-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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"2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 64, + "ready_token": "8b7d303e92c04687b2e079f2b2d57a67", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "arm_request_id": "35807a99fd6c47e196a1e99996c3a367", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1269, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "running", + "session_id": "session_20261019_151407_00227", + "generation": 64, + "session_count": 64, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043040459511, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394048009268055, + "capture_count": 1146, + "capture_error_count": 0, + "writer_count": 809, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 168.134765625, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 347, + "max_queue_depth": 347, + "read_count": 347, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394048005083341, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394048017146298 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.33:8765/stop", + "http_status": 200, + "started_time_ns": 1792394070533963133, + "ended_time_ns": 1792394070737472407 + }, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261019_151407_00227", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 438963 + }, + "raw_trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 438716 + }, + "pc_metadata": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 140432 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 435999 + }, + "raw_trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 437036 + }, + "pc_metadata": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 128435 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151407_00227", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "--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_20261019_151407_00227.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151407_00227", + "--control-generation", + "64", + "--ready-token", + "8b7d303e92c04687b2e079f2b2d57a67", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394072607387724, + "ended_time_ns": 1792394072666715903, + "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_20261019_151407_00227.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.diagnostics.json", + "capture_start_time_ns": 1792394051557149653, + "capture_stop_time_ns": 1792394071527479813, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "timing": { + "server_start_request_time_ns": 1792394047965857346, + "subprocess_popen_time_ns": 1792394047971071076, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792394048021461271, + "validate_start_time_ns": 1792394049142055628, + "session_dir_create_start_time_ns": 1792394048024333265, + "session_dir_create_end_time_ns": 1792394048025370189, + "as5600_init_start_time_ns": 1792394048026509446, + "as5600_init_end_time_ns": 1792394048027342666, + "as5600_zero_start_time_ns": 1792394048028651645, + "as5600_zero_end_time_ns": 1792394048835448337, + "camera_init_start_time_ns": 1792394048837185575, + "camera_init_end_time_ns": 1792394048841199400, + "camera_start_start_time_ns": 1792394048842254731, + "camera_start_end_time_ns": 1792394048843847876, + "camera_first_frame_wait_start_time_ns": 1792394048845465169, + "camera_first_frame_wait_end_time_ns": 1792394048847124480, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394048849902438, + "armed_time_ns": 1792394049140686316, + "waiting_t0_time_ns": 1792394049143507644, + "recording_start_time_ns": 1792394051562248779, + "stop_request_time_ns": 1792394070734355495, + "finalized_time_ns": 1792394071536012864 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394047933957780, + "ended_time_ns": 1792394047934629057, + "duration_s": 0.000671277, + "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": 1792394047933969262, + "ok": true, + "ended_time_ns": 1792394047933996762, + "duration_s": 2.75e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047934002928, + "ok": true, + "ended_time_ns": 1792394047934010206, + "duration_s": 7.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047934011373, + "ok": true, + "ended_time_ns": 1792394047934018150, + "duration_s": 6.777e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047934018687, + "ok": true, + "ended_time_ns": 1792394047934607927, + "duration_s": 0.00058924 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047934611427, + "ok": true, + "ended_time_ns": 1792394047934619983, + "duration_s": 8.556e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047934621020, + "ok": true, + "ended_time_ns": 1792394047934624797, + "duration_s": 3.777e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047934625668, + "ok": true, + "ended_time_ns": 1792394047934628297, + "duration_s": 2.629e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 64, + "ready_token": "8b7d303e92c04687b2e079f2b2d57a67", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "arm_request_id": "35807a99fd6c47e196a1e99996c3a367", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1269, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151407_00227", + "generation": 64, + "session_count": 64, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 64, + "last_bootstrap_time_ns": 1792394072342657297, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394072345494292, + "capture_count": 941, + "capture_error_count": 0, + "writer_count": 800, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 169.54101562499997, + "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": 1792394072340680838, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394072347385695 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394072614364936, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 23591, + "displayed_count": 21272, + "dropped_count": 2317, + "decode_error_count": 0, + "last_receive_time_ns": 1792394072562966262, + "last_frame_time_ns": 1792394072527068871, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151407_00227", + "generation": 64, + "session_count": 64, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 64, + "last_bootstrap_time_ns": 1792394072342657297, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394072345494292, + "capture_count": 941, + "capture_error_count": 0, + "writer_count": 800, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 169.54101562499997, + "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": 1792394072340680838, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394072347385695 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792394072671509549, + "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": 1792394072671509169 + } + }, + "updated_time_ns": 1792394072671510574 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_metadata.json b/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d589155d645b13d03344fc2b0450f21f4ae096ab --- /dev/null +++ b/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792394047979382119, + "platform": { + "system": "Linux", + "release": "6.8.0-138-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand", + "merged_trajectory_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Merged_Trajectory", + "metadata_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata", + "vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-817EC589", + "tracker_serials": [ + "LHR-817EC589", + "LHR-4F99A346" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792394051557149653, + "capture_stop_time_ns": 1792394071527479813, + "effective_capture_stop_time_ns": 1792394071527479813, + "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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/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": 2, + "tracker_serial_used": "LHR-817EC589", + "vive_bias": { + "x0": 0.05640385299921036, + "y0": -0.8596547245979309, + "z0": -0.5127336978912354, + "qx0": -0.0239651546856515, + "qy0": -0.7944824082193829, + "qz0": 0.012072826490501934, + "qw0": 0.6066940095726618 + }, + "zero_reference_sample_ns": 1792394051564851751 + }, + "data_mark": "FORMAL", + "test_artifact": false, + "result": { + "sample_count": 3993, + "invalid_reads": 0, + "disconnected_reads": 0, + "invalid_pose_reads": 0, + "recording_disconnected_reads": 0, + "recording_invalid_pose_reads": 0, + "started_time_ns": 1792394051559805317, + 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"opencv_video_writer", + "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": 1198, + "clamp_first_sample_time_ns": 1792394051573560114, + "clamp_last_sample_time_ns": 1792394071523559643, + "clamp_actual_hz": 60.00000141654139, + "clamp_value_min": 95.53448867077657, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 351, + "read_count": 1758, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 4041 + }, + "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/1016-umi/session_20261019_151407_00227/right_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_151407_00227/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..48f5fe86c90636a172166827bf1a81109f6b1601 --- /dev/null +++ b/1016-umi/session_20261019_151407_00227/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3885 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792394047891628893, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": 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"/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151407_00227/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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 + }, + 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+ "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/teleai/Tele-UMI/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": "192.168.157.6", + "pi_port": 8765, + "pi_base_url": "http://192.168.157.6:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.157.12", + "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": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151338_00226", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151338_00226", + "--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_20261019_151338_00226.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151338_00226", + "--control-generation", + "63", + "--ready-token", + "faa50fa2426a42baa6926ee4a784ebc7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394047892408240, + "ended_time_ns": 1792394047939786760, + "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_20261019_151338_00226.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.diagnostics.json", + "capture_start_time_ns": 1792394022010461572, + "capture_stop_time_ns": 1792394042224910114, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151338_00226", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151338_00226/right_hand", + "timing": { + "server_start_request_time_ns": 1792394018528144960, + "subprocess_popen_time_ns": 1792394018533550343, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394018578451845, + "validate_start_time_ns": 1792394019594980751, + "session_dir_create_start_time_ns": 1792394018579502266, + "session_dir_create_end_time_ns": 1792394018580675428, + "as5600_init_start_time_ns": 1792394018582224865, + "as5600_init_end_time_ns": 1792394018643634996, + "as5600_zero_start_time_ns": 1792394018645696820, + "as5600_zero_end_time_ns": 1792394019450938769, + "camera_init_start_time_ns": 1792394019452437040, + "camera_init_end_time_ns": 1792394019454318754, + "camera_start_start_time_ns": 1792394019457062779, + "camera_start_end_time_ns": 1792394019458409773, + "camera_first_frame_wait_start_time_ns": 1792394019459770489, + "camera_first_frame_wait_end_time_ns": 1792394019461775147, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394019463070604, + "armed_time_ns": 1792394019593680312, + "waiting_t0_time_ns": 1792394019597008982, + "recording_start_time_ns": 1792394022011723501, + "stop_request_time_ns": 1792394041267199730, + "finalized_time_ns": 1792394042232985494 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792394047638838771, + "ended_time_ns": 1792394047640406208, + "duration_s": 0.001567437, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394047638963104, + "ended_time_ns": 1792394047639257750, + "duration_s": 0.000294646, + "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": 1792394047638967955, + "ok": true, + "ended_time_ns": 1792394047638978252, + "duration_s": 1.0297e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047638979881, + "ok": true, + "ended_time_ns": 1792394047638983918, + "duration_s": 4.037e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047638984640, + "ok": true, + "ended_time_ns": 1792394047638988770, + "duration_s": 4.13e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047638989363, + "ok": true, + "ended_time_ns": 1792394047639243362, + "duration_s": 0.000253999 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047639244806, + "ok": true, + "ended_time_ns": 1792394047639250047, + "duration_s": 5.241e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047639250880, + "ok": true, + "ended_time_ns": 1792394047639254195, + "duration_s": 3.315e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047639254713, + "ok": true, + "ended_time_ns": 1792394047639257102, + "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": 1792394047640135672, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394047571882461, + "frame_age_s": 0.068295693, + "heartbeat_age_s": 0.038436272, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394047640184450, + "duration_s": 4.8778e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394047640187191, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 243.45703125, + "sample_observed_time_ns": 1792394047592398295, + "sample_age_s": 0.047799988, + "heartbeat_age_s": 0.038474642, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394047640203191, + "duration_s": 1.6e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792394047640205042, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792394047640208153, + "duration_s": 3.111e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792394047640209653, + "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": 1792394047640403782, + "duration_s": 0.000194129 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 63, + "ready_token": "faa50fa2426a42baa6926ee4a784ebc7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151338_00226.ready.json", + "arm_request_id": "9bbda0da121b4559a1a2898931806de2", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2095, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043042172518, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394047571882461, + "capture_count": 1102, + "capture_error_count": 0, + "writer_count": 785, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.45703125, + "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": 1792394047592398295, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047601717030 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394046996370811, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 23336, + "displayed_count": 15257, + "dropped_count": 8078, + "decode_error_count": 0, + "last_receive_time_ns": 1792394046904196448, + "last_frame_time_ns": 1792394046941006301, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043042172518, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394047571882461, + "capture_count": 1102, + "capture_error_count": 0, + "writer_count": 785, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.45703125, + "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": 1792394047592398295, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047601717030 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394047943820664, + "ended_time_ns": 1792394048007703505, + "duration_s": 0.000304536, + "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": 1792394047980778676, + "ok": true, + "ended_time_ns": 1792394047980789898, + "duration_s": 1.1222e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047980792435, + "ok": true, + "ended_time_ns": 1792394047980795917, + "duration_s": 3.482e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047980796694, + "ok": true, + "ended_time_ns": 1792394047980800898, + "duration_s": 4.204e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047980801472, + "ok": true, + "ended_time_ns": 1792394047981062434, + "duration_s": 0.000260962 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047981064138, + "ok": true, + "ended_time_ns": 1792394047981069452, + "duration_s": 5.314e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047981070249, + "ok": true, + "ended_time_ns": 1792394047981073712, + "duration_s": 3.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047981074286, + "ok": true, + "ended_time_ns": 1792394047981077101, + "duration_s": 2.815e-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://192.168.157.6:8765/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_20261019_151407_00227", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "--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_20261019_151407_00227.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151407_00227", + "--control-generation", + "64", + "--ready-token", + "2b9f7090bdc443ed8e38d8dd31d6cf86", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394048049509478, + "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_20261019_151407_00227.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/right_hand", + "timing": { + "server_start_request_time_ns": 1792394048042367825, + "subprocess_popen_time_ns": 1792394048049509478, + "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": 1792394047980773361, + "ended_time_ns": 1792394047981077897, + "duration_s": 0.000304536, + "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": 1792394047980778676, + "ok": true, + "ended_time_ns": 1792394047980789898, + "duration_s": 1.1222e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047980792435, + "ok": true, + "ended_time_ns": 1792394047980795917, + "duration_s": 3.482e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047980796694, + "ok": true, + "ended_time_ns": 1792394047980800898, + "duration_s": 4.204e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047980801472, + "ok": true, + "ended_time_ns": 1792394047981062434, + "duration_s": 0.000260962 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047981064138, + "ok": true, + "ended_time_ns": 1792394047981069452, + "duration_s": 5.314e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047981070249, + "ok": true, + "ended_time_ns": 1792394047981073712, + "duration_s": 3.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047981074286, + "ok": true, + "ended_time_ns": 1792394047981077101, + "duration_s": 2.815e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 64, + "ready_token": "2b9f7090bdc443ed8e38d8dd31d6cf86", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2096, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043042172518, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394047571882461, + "capture_count": 1102, + "capture_error_count": 0, + "writer_count": 785, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.45703125, + "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": 1792394047592398295, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047601717030 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394046996370811, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 23336, + "displayed_count": 15257, + "dropped_count": 8078, + "decode_error_count": 0, + "last_receive_time_ns": 1792394046904196448, + "last_frame_time_ns": 1792394046941006301, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151338_00226", + "generation": 63, + "session_count": 63, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043042172518, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394047571882461, + "capture_count": 1102, + "capture_error_count": 0, + "writer_count": 785, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.45703125, + "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": 1792394047592398295, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394047601717030 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.6:8765/start", + "http_status": 200, + "started_time_ns": 1792394048010815818, + "ended_time_ns": 1792394048054944787 + }, + "pi_start_request_time_ns": 1792394048054950529, + "capture_start_time_ns": 1792394051557149653, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792394070715536280, + "capture_stop_time_ns": 1792394071527479813, + "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_20261019_151407_00227", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "--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_20261019_151407_00227.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151407_00227", + "--control-generation", + "64", + "--ready-token", + "2b9f7090bdc443ed8e38d8dd31d6cf86", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394048049509478, + "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_20261019_151407_00227.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.diagnostics.json", + "capture_start_time_ns": 1792394051557149653, + "capture_stop_time_ns": 1792394071527479813, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/right_hand", + "timing": { + "server_start_request_time_ns": 1792394048042367825, + "subprocess_popen_time_ns": 1792394048049509478, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394048075654416, + "validate_start_time_ns": 1792394049128636527, + "session_dir_create_start_time_ns": 1792394048076815225, + "session_dir_create_end_time_ns": 1792394048077904535, + "as5600_init_start_time_ns": 1792394048079259770, + "as5600_init_end_time_ns": 1792394048080300950, + "as5600_zero_start_time_ns": 1792394048082158257, + "as5600_zero_end_time_ns": 1792394048949797944, + "camera_init_start_time_ns": 1792394048951544565, + "camera_init_end_time_ns": 1792394048953609093, + "camera_start_start_time_ns": 1792394048954512663, + "camera_start_end_time_ns": 1792394048955983323, + "camera_first_frame_wait_start_time_ns": 1792394048959310734, + "camera_first_frame_wait_end_time_ns": 1792394048960878746, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394048962333720, + "armed_time_ns": 1792394049127233774, + "waiting_t0_time_ns": 1792394049130615074, + "recording_start_time_ns": 1792394051558836532, + "stop_request_time_ns": 1792394070752581410, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394047980773361, + "ended_time_ns": 1792394047981077897, + "duration_s": 0.000304536, + "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": 1792394047980778676, + "ok": true, + "ended_time_ns": 1792394047980789898, + "duration_s": 1.1222e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047980792435, + "ok": true, + "ended_time_ns": 1792394047980795917, + "duration_s": 3.482e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047980796694, + "ok": true, + "ended_time_ns": 1792394047980800898, + "duration_s": 4.204e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047980801472, + "ok": true, + "ended_time_ns": 1792394047981062434, + "duration_s": 0.000260962 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047981064138, + "ok": true, + "ended_time_ns": 1792394047981069452, + "duration_s": 5.314e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047981070249, + "ok": true, + "ended_time_ns": 1792394047981073712, + "duration_s": 3.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047981074286, + "ok": true, + "ended_time_ns": 1792394047981077101, + "duration_s": 2.815e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 64, + "ready_token": "2b9f7090bdc443ed8e38d8dd31d6cf86", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "arm_request_id": "35807a99fd6c47e196a1e99996c3a367", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2096, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "running", + "session_id": "session_20261019_151407_00227", + "generation": 64, + "session_count": 64, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 63, + "last_bootstrap_time_ns": 1792394043042172518, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394048047830133, + "capture_count": 1121, + "capture_error_count": 0, + "writer_count": 785, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.45703125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 350, + "max_queue_depth": 350, + "read_count": 350, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394048056895204, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394048069418740 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.6:8765/stop", + "http_status": 200, + "started_time_ns": 1792394070715760815, + "ended_time_ns": 1792394070754666879 + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151407_00227", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "--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_20261019_151407_00227.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151407_00227", + "--control-generation", + "64", + "--ready-token", + "2b9f7090bdc443ed8e38d8dd31d6cf86", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394072835277161, + "ended_time_ns": 1792394072941699453, + "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_20261019_151407_00227.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.diagnostics.json", + "capture_start_time_ns": 1792394051557149653, + "capture_stop_time_ns": 1792394071527479813, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151407_00227/right_hand", + "timing": { + "server_start_request_time_ns": 1792394048042367825, + "subprocess_popen_time_ns": 1792394048049509478, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394048075654416, + "validate_start_time_ns": 1792394049128636527, + "session_dir_create_start_time_ns": 1792394048076815225, + "session_dir_create_end_time_ns": 1792394048077904535, + "as5600_init_start_time_ns": 1792394048079259770, + "as5600_init_end_time_ns": 1792394048080300950, + "as5600_zero_start_time_ns": 1792394048082158257, + "as5600_zero_end_time_ns": 1792394048949797944, + "camera_init_start_time_ns": 1792394048951544565, + "camera_init_end_time_ns": 1792394048953609093, + "camera_start_start_time_ns": 1792394048954512663, + "camera_start_end_time_ns": 1792394048955983323, + "camera_first_frame_wait_start_time_ns": 1792394048959310734, + "camera_first_frame_wait_end_time_ns": 1792394048960878746, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394048962333720, + "armed_time_ns": 1792394049127233774, + "waiting_t0_time_ns": 1792394049130615074, + "recording_start_time_ns": 1792394051558836532, + "stop_request_time_ns": 1792394070752581410, + "finalized_time_ns": 1792394071535961291 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394047980773361, + "ended_time_ns": 1792394047981077897, + "duration_s": 0.000304536, + "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": 1792394047980778676, + "ok": true, + "ended_time_ns": 1792394047980789898, + "duration_s": 1.1222e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394047980792435, + "ok": true, + "ended_time_ns": 1792394047980795917, + "duration_s": 3.482e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394047980796694, + "ok": true, + "ended_time_ns": 1792394047980800898, + "duration_s": 4.204e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394047980801472, + "ok": true, + "ended_time_ns": 1792394047981062434, + "duration_s": 0.000260962 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394047981064138, + "ok": true, + "ended_time_ns": 1792394047981069452, + "duration_s": 5.314e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394047981070249, + "ok": true, + "ended_time_ns": 1792394047981073712, + "duration_s": 3.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394047981074286, + "ok": true, + "ended_time_ns": 1792394047981077101, + "duration_s": 2.815e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 64, + "ready_token": "2b9f7090bdc443ed8e38d8dd31d6cf86", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151407_00227.ready.json", + "arm_request_id": "35807a99fd6c47e196a1e99996c3a367", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2096, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151407_00227", + "generation": 64, + "session_count": 64, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 64, + "last_bootstrap_time_ns": 1792394072344383355, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394072832308140, + "capture_count": 956, + "capture_error_count": 0, + "writer_count": 799, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 244.0795898415558, + "gripper_gap_mm": 84.98640435004167, + "status_ok": true, + "queue_size": 600, + "queue_depth": 79, + "max_queue_depth": 79, + "read_count": 79, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + 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null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 65, + "ready_token": "7e810436dcd64efa90f13d880e12fa30", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.ready.json", + "arm_request_id": "1753fbf002fd47ee8a8fd4fdafacf74f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1270, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096045011050, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394345871439567, + "capture_count": 10596, + "capture_error_count": 0, + "writer_count": 336, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 167.080078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15039, + "read_error_count": 0, + "queue_overrun_count": 14439, + "last_read_error": null, + "updated_time_ns": 1792394345876179465, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394345890528437 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394346243342190, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 25974, + "displayed_count": 23531, + "dropped_count": 2441, + "decode_error_count": 0, + "last_receive_time_ns": 1792394346144454055, + "last_frame_time_ns": 1792394346114693023, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096045011050, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394345871439567, + "capture_count": 10596, + "capture_error_count": 0, + "writer_count": 336, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 167.080078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15039, + "read_error_count": 0, + "queue_overrun_count": 14439, + "last_read_error": null, + "updated_time_ns": 1792394345876179465, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394345890528437 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "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": 1792394346345958282, + "ended_time_ns": 1792394346377719423, + "duration_s": 0.003886844, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394346380582080, + "ended_time_ns": 1792394346381120931, + "duration_s": 0.000538851, + "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": 1792394346380592543, + "ok": true, + "ended_time_ns": 1792394346380617562, + "duration_s": 2.5019e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394346380621803, + "ok": true, + "ended_time_ns": 1792394346380627321, + "duration_s": 5.518e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394346380628154, + "ok": true, + "ended_time_ns": 1792394346380633784, + "duration_s": 5.63e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394346380634358, + "ok": true, + "ended_time_ns": 1792394346381093357, + "duration_s": 0.000458999 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394346381097709, + "ok": true, + "ended_time_ns": 1792394346381109265, + "duration_s": 1.1556e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394346381110653, + "ok": true, + "ended_time_ns": 1792394346381115339, + "duration_s": 4.686e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394346381116116, + "ok": true, + "ended_time_ns": 1792394346381120320, + "duration_s": 4.204e-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": 1792394346383370649, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394345871439567, + "frame_age_s": 0.512080174, + "heartbeat_age_s": 0.492914397, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394346383540556, + "duration_s": 0.000169907 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394346383550167, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 167.080078125, + "sample_observed_time_ns": 1792394345876179465, + "sample_age_s": 0.507411054, + "heartbeat_age_s": 0.493041267, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394346383599278, + "duration_s": 4.9111e-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": 1792394346383614982, + "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": 1792394346384134740, + "duration_s": 0.000519758 + } + }, + "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://192.168.157.33:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792394346377738029, + "ended_time_ns": 1792394346563723871, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-817EC589\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-817EC589", + "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": "192.168.157.6", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "requested_tracker_serial": "LHR-4F99A346", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151440_00228", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151440_00228", + "--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_20261019_151440_00228.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151440_00228", + "--control-generation", + "65", + "--ready-token", + "5d099b02b0694eefa804625905cbb653", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394346563741826, + "ended_time_ns": 1792394346590715157, + "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_20261019_151440_00228.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.diagnostics.json", + "capture_start_time_ns": 1792394086819010364, + "capture_stop_time_ns": 1792394095223261874, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151440_00228", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151440_00228/right_hand", + "timing": { + "server_start_request_time_ns": 1792394080279760523, + "subprocess_popen_time_ns": 1792394083305723846, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394083367527494, + "validate_start_time_ns": 1792394084389452079, + "session_dir_create_start_time_ns": 1792394083369244653, + "session_dir_create_end_time_ns": 1792394083370645443, + "as5600_init_start_time_ns": 1792394083373938836, + "as5600_init_end_time_ns": 1792394083378420241, + "as5600_zero_start_time_ns": 1792394083381127674, + "as5600_zero_end_time_ns": 1792394084188841371, + "camera_init_start_time_ns": 1792394084190675807, + "camera_init_end_time_ns": 1792394084194914159, + "camera_start_start_time_ns": 1792394084196221486, + "camera_start_end_time_ns": 1792394084270714965, + "camera_first_frame_wait_start_time_ns": 1792394084277745378, + "camera_first_frame_wait_end_time_ns": 1792394084279150335, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394084280958234, + "armed_time_ns": 1792394084388256177, + "waiting_t0_time_ns": 1792394084391334052, + "recording_start_time_ns": 1792394086821245021, + "stop_request_time_ns": 1792394094366912573, + "finalized_time_ns": 1792394095231995438 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394080238812448, + "ended_time_ns": 1792394080239120836, + "duration_s": 0.000308388, + "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": 1792394080238817504, + "ok": true, + "ended_time_ns": 1792394080238828967, + "duration_s": 1.1463e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394080238831541, + "ok": true, + "ended_time_ns": 1792394080238835559, + "duration_s": 4.018e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394080238836337, + "ok": true, + "ended_time_ns": 1792394080238840041, + "duration_s": 3.704e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394080238840615, + "ok": true, + "ended_time_ns": 1792394080239106058, + "duration_s": 0.000265443 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394080239107651, + "ok": true, + "ended_time_ns": 1792394080239112577, + "duration_s": 4.926e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394080239113688, + "ok": true, + "ended_time_ns": 1792394080239116669, + "duration_s": 2.981e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394080239117336, + "ok": true, + "ended_time_ns": 1792394080239120114, + "duration_s": 2.778e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 65, + "ready_token": "5d099b02b0694eefa804625905cbb653", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.ready.json", + "arm_request_id": "1753fbf002fd47ee8a8fd4fdafacf74f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2097, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096046682363, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394346333928884, + "capture_count": 10493, + "capture_error_count": 0, + "writer_count": 337, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.63281250000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15066, + "read_error_count": 0, + "queue_overrun_count": 14466, + "last_read_error": null, + "updated_time_ns": 1792394346328034781, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394346344716798 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394346125801247, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 25951, + "displayed_count": 16879, + "dropped_count": 9070, + "decode_error_count": 0, + "last_receive_time_ns": 1792394346086129833, + "last_frame_time_ns": 1792394345988721475, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096046682363, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394346333928884, + "capture_count": 10493, + "capture_error_count": 0, + "writer_count": 337, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.63281250000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15066, + "read_error_count": 0, + "queue_overrun_count": 14466, + "last_read_error": null, + "updated_time_ns": 1792394346328034781, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394346344716798 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "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": 1792394346634355648, + "ended_time_ns": 1792394346654852779, + "duration_s": 0.001559474, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394346667929936, + "ended_time_ns": 1792394346668219472, + "duration_s": 0.000289536, + "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": 1792394346667934603, + "ok": true, + "ended_time_ns": 1792394346667945455, + "duration_s": 1.0852e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394346667946973, + "ok": true, + "ended_time_ns": 1792394346667951010, + "duration_s": 4.037e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394346667951621, + "ok": true, + "ended_time_ns": 1792394346667955843, + "duration_s": 4.222e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394346667956436, + "ok": true, + "ended_time_ns": 1792394346668205972, + "duration_s": 0.000249536 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394346668207250, + "ok": true, + "ended_time_ns": 1792394346668211768, + "duration_s": 4.518e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394346668212564, + "ok": true, + "ended_time_ns": 1792394346668215768, + "duration_s": 3.204e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394346668216305, + "ok": true, + "ended_time_ns": 1792394346668218750, + "duration_s": 2.445e-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": 1792394346669144783, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394346333928884, + "frame_age_s": 0.335253565, + "heartbeat_age_s": 0.32444404, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394346669188338, + "duration_s": 4.3555e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394346669190542, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 243.63281250000003, + "sample_observed_time_ns": 1792394346328034781, + "sample_age_s": 0.341166261, + "heartbeat_age_s": 0.324478225, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394346669205653, + "duration_s": 1.5111e-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": 1792394346669212116, + "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": 1792394346669352893, + "duration_s": 0.000140777 + } + }, + "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://192.168.157.6:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792394346654861721, + "ended_time_ns": 1792394346819513195, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-4F99A346\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "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": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_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/teleai/Tele-UMI/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792394599386484714, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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": "192.168.157.33", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_f95ccb4e258f242e.sock zhang@192.168.157.33 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/left_hand'", + "returncode": 0, + "started_time_ns": 1792394594589219702, + "ended_time_ns": 1792394594611782326, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_f95ccb4e258f242e.sock' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/left_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792394594611873475, + "ended_time_ns": 1792394594704612993, + "transferred_bytes": 13568, + "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: 13,568 bytes\nTotal transferred file size: 13,568 bytes\nLiteral data: 13,568 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: 13,704\n\nsent 46 bytes received 13,704 bytes 27,500.00 bytes/sec\ntotal size is 13,568 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_f95ccb4e258f242e.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/left_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/", + "returncode": 0, + "started_time_ns": 1792394594704824021, + "ended_time_ns": 1792394599385967736, + "transferred_bytes": 19886356, + "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: 19,886,356 bytes\nTotal transferred file size: 19,886,356 bytes\nLiteral data: 19,886,356 bytes\nMatched data: 0 bytes\nFile list size: 234\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 19,891,624\n\nsent 168 bytes received 19,891,624 bytes 3,616,689.45 bytes/sec\ntotal size is 19,886,356 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 19899924, + "copied_local_bytes": 20775314, + "started_time_ns": 1792394594588639393, + "ended_time_ns": 1792394599386134067 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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": "192.168.157.6", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_8687a29132ec720e.sock zhang@192.168.157.6 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand'", + "returncode": 0, + "started_time_ns": 1792394594589170854, + "ended_time_ns": 1792394594615565038, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_8687a29132ec720e.sock' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792394594615634147, + "ended_time_ns": 1792394594709349087, + "transferred_bytes": 13604, + "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: 13,604 bytes\nTotal transferred file size: 13,604 bytes\nLiteral data: 13,604 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: 13,740\n\nsent 46 bytes received 13,740 bytes 27,572.00 bytes/sec\ntotal size is 13,604 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_8687a29132ec720e.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/", + "returncode": 0, + "started_time_ns": 1792394594709522375, + "ended_time_ns": 1792394598503061481, + "transferred_bytes": 15029571, + "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: 15,029,571 bytes\nTotal transferred file size: 15,029,571 bytes\nLiteral data: 15,029,571 bytes\nMatched data: 0 bytes\nFile list size: 221\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 15,033,642\n\nsent 168 bytes received 15,033,642 bytes 3,340,846.67 bytes/sec\ntotal size is 15,029,571 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 15043175, + "copied_local_bytes": 15895777, + "started_time_ns": 1792394594588752392, + "ended_time_ns": 1792394598503220745 + }, + "error": null + } + }, + "pi_integrated_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228", + "pi_integrated_dirs": { + "left_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "right_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand" + }, + "pi_integrated_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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": "1016-umi", + "session_id": "session_20261019_151906_00228", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792466288050635508, + "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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792466287617849585, + "ended_time_ns": 1792466288050297669, + "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": 1792466287617849585, + "ended_time_ns": 1792466287842185905, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_151906_00228", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.33", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_151906_00228 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.33 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151906_00228\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792394350605609465\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792394350605609465，vive_T0=1792394350605609465，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394366315430272，vive_Tstop=1792394366315430272，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006185s，first=1792394350611794081，T0=1792394350605609465，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003668s，last=1792394366311762555，Tstop=1792394366315430272，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3141\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: 200.00040160590197 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00040160590197 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 3141，metadata 3141\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00040030103975 Hz，最低 150.0 Hz，时长 15.699968576431274 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00040030103975 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=0.007966995239257812s，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 0.9999999991800999..1.0000000007437102，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.01790117358170822m，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=1.53720973306974deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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=629 duration=15.725s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=629，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 629，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=628，rows=629，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=629，monotonic违规=0，估算频率=40.026792412803225Hz，最大间隔=0.035093726s；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: 629，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.026791843889 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: 40.026791843889 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=0.035093188s，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 943，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 78.119..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: 943，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.9997651257602 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: 59.9997651257602 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=0.022308881s，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=943，bad_rows=0，monotonic违规=0，估算频率=59.999763004757774Hz，最大间隔=0.022308992s；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 629，metadata 629\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 943，metadata 943\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 629，timestamps 629，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=629，timestamps=629，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=0.036s，video=15.725s，timestamps=15.68949124s\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=0.011s，camera=15.68949124s，clamp=15.700061459s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792394350605609465，pi_T0=1792394350605609465，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394366315430272，pi_Tstop=1792394366315430272，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013705s，first=1792394350619314499，T0=1792394350605609465，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.003857s，first=1792394350609466908，T0=1792394350605609465，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.006625s，last=1792394366308805739，Tstop=1792394366315430272，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005902s，last=1792394366309528367，Tstop=1792394366315430272，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010477s，vive=15.699968474s，camera=15.68949124s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.000093s，vive=15.699968474s，clamp=15.700061459s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007520s，vive_first=1792394350611794081，camera_first=1792394350619314499，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.002327s，vive_first=1792394350611794081，clamp_first=1792394350609466908，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.002957s，vive_last=1792394366311762555，camera_last=1792394366308805739，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.002234s，vive_last=1792394366311762555，clamp_last=1792394366309528367，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_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": 1792466287842596741, + "ended_time_ns": 1792466288050297669, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_151906_00228", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.6", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_151906_00228 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.6 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151906_00228\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792394350605609465\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792394350605609465，vive_T0=1792394350605609465，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394366315430272，vive_Tstop=1792394366315430272，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006185s，first=1792394350611794081，T0=1792394350605609465，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003668s，last=1792394366311762555，Tstop=1792394366315430272，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3141\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: 200.00040160590197 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00040160590197 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 3141，metadata 3141\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00040030103975 Hz，最低 150.0 Hz，时长 15.699968576431274 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00040030103975 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=0.007966995239257812s，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 0.9999999993656861..1.0000000006478895，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.00732853296184352m，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=1.5057289610162212deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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=629 duration=15.725s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=629，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 629，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=628，rows=629，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=629，monotonic违规=0，估算频率=40.0324074679654Hz，最大间隔=0.034198698s；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: 629，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03240567397928 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: 40.03240567397928 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=0.034197809s，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 943，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 95.5854..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: 943，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000018921025074 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: 60.000018921025074 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=0.020941239s，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=943，bad_rows=0，monotonic违规=0，估算频率=60.000018989814926Hz，最大间隔=0.020941388s；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 629，metadata 629\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 943，metadata 943\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 629，timestamps 629，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=629，timestamps=629，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=0.038s，video=15.725s，timestamps=15.687291069s\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=0.013s，camera=15.687291069s，clamp=15.699995049s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792394350605609465，pi_T0=1792394350605609465，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394366315430272，pi_Tstop=1792394366315430272，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.005704s，first=1792394350611313778，T0=1792394350605609465，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.005770s，first=1792394350611379685，T0=1792394350605609465，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.016825s，last=1792394366298604847，Tstop=1792394366315430272，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004056s，last=1792394366311374734，Tstop=1792394366315430272，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.012677s，vive=15.699968474s，camera=15.687291069s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.000027s，vive=15.699968474s，clamp=15.699995049s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.000480s，vive_first=1792394350611794081，camera_first=1792394350611313778，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000414s，vive_first=1792394350611794081，clamp_first=1792394350611379685，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.013158s，vive_last=1792394366311762555，camera_last=1792394366298604847，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.000388s，vive_last=1792394366311762555，clamp_last=1792394366311374734，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151906_00228\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792394350605609465\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792394350605609465，vive_T0=1792394350605609465，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394366315430272，vive_Tstop=1792394366315430272，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006185s，first=1792394350611794081，T0=1792394350605609465，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003668s，last=1792394366311762555，Tstop=1792394366315430272，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3141\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: 200.00040160590197 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00040160590197 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 3141，metadata 3141\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00040030103975 Hz，最低 150.0 Hz，时长 15.699968576431274 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00040030103975 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=0.007966995239257812s，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 0.9999999991800999..1.0000000007437102，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.01790117358170822m，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=1.53720973306974deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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=629 duration=15.725s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=629，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 629，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=628，rows=629，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=629，monotonic违规=0，估算频率=40.026792412803225Hz，最大间隔=0.035093726s；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: 629，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.026791843889 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: 40.026791843889 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=0.035093188s，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 943，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 78.119..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: 943，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.9997651257602 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: 59.9997651257602 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=0.022308881s，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=943，bad_rows=0，monotonic违规=0，估算频率=59.999763004757774Hz，最大间隔=0.022308992s；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 629，metadata 629\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 943，metadata 943\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 629，timestamps 629，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=629，timestamps=629，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=0.036s，video=15.725s，timestamps=15.68949124s\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=0.011s，camera=15.68949124s，clamp=15.700061459s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792394350605609465，pi_T0=1792394350605609465，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394366315430272，pi_Tstop=1792394366315430272，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013705s，first=1792394350619314499，T0=1792394350605609465，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.003857s，first=1792394350609466908，T0=1792394350605609465，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.006625s，last=1792394366308805739，Tstop=1792394366315430272，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005902s，last=1792394366309528367，Tstop=1792394366315430272，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010477s，vive=15.699968474s，camera=15.68949124s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.000093s，vive=15.699968474s，clamp=15.700061459s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007520s，vive_first=1792394350611794081，camera_first=1792394350619314499，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.002327s，vive_first=1792394350611794081，clamp_first=1792394350609466908，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.002957s，vive_last=1792394366311762555，camera_last=1792394366308805739，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.002234s，vive_last=1792394366311762555，clamp_last=1792394366309528367，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151906_00228\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792394350605609465\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792394350605609465，vive_T0=1792394350605609465，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394366315430272，vive_Tstop=1792394366315430272，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006185s，first=1792394350611794081，T0=1792394350605609465，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003668s，last=1792394366311762555，Tstop=1792394366315430272，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3141\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: 200.00040160590197 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00040160590197 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 3141，metadata 3141\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00040030103975 Hz，最低 150.0 Hz，时长 15.699968576431274 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00040030103975 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=0.007966995239257812s，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 0.9999999993656861..1.0000000006478895，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.00732853296184352m，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=1.5057289610162212deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/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=629 duration=15.725s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=629，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 629，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=628，rows=629，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=629，monotonic违规=0，估算频率=40.0324074679654Hz，最大间隔=0.034198698s；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: 629，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03240567397928 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: 40.03240567397928 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=0.034197809s，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 943，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 95.5854..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: 943，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000018921025074 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: 60.000018921025074 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=0.020941239s，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=943，bad_rows=0，monotonic违规=0，估算频率=60.000018989814926Hz，最大间隔=0.020941388s；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 629，metadata 629\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 943，metadata 943\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 629，timestamps 629，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=629，timestamps=629，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=0.038s，video=15.725s，timestamps=15.687291069s\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=0.013s，camera=15.687291069s，clamp=15.699995049s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792394350605609465，pi_T0=1792394350605609465，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394366315430272，pi_Tstop=1792394366315430272，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.005704s，first=1792394350611313778，T0=1792394350605609465，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.005770s，first=1792394350611379685，T0=1792394350605609465，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.016825s，last=1792394366298604847，Tstop=1792394366315430272，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004056s，last=1792394366311374734，Tstop=1792394366315430272，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.012677s，vive=15.699968474s，camera=15.687291069s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.000027s，vive=15.699968474s，clamp=15.699995049s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.000480s，vive_first=1792394350611794081，camera_first=1792394350611313778，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000414s，vive_first=1792394350611794081，clamp_first=1792394350611379685，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.013158s，vive_last=1792394366311762555，camera_last=1792394366298604847，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.000388s，vive_last=1792394366311762555，clamp_last=1792394366311374734，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151906_00228_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。" + } + }, + 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"max_open_init", + "init_total_samples": 49, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 8.352e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792394350611376015, + "camera_frame_count": 629, + "camera_started_time_ns": 1792394347938114392, + "camera_stopped_time_ns": 1792394366318845978, + "camera_actual_fps": 34.22061831744982, + "camera_first_frame_time_ns": 1792394350619314499, + "camera_last_frame_time_ns": 1792394366308805739, + "camera_frame_timestamp_fps": 40.026791843889, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792391342354568971, + "stream_last_frame_time_ns": 1792394366308805739, + "capture_count": 736, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 943, + "clamp_first_sample_time_ns": 1792394350609466908, + "clamp_last_sample_time_ns": 1792394366309528367, + "clamp_actual_hz": 59.9997651257602, + "clamp_value_min": 78.11899445305846, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 600, + "read_count": 16265, + "read_error_count": 0, + "queue_overrun_count": 14513, + "last_read_error": null + }, + "main_loop_iterations": 3270 + }, + "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/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2ac995d7eae730ad145032ac8ee28e6b6d4bf7e3 --- /dev/null +++ b/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4272 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792394346931764672, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261019_151906_00228", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "pc_pi_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_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/teleai/Tele-UMI/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": "192.168.157.33", + "pi_port": 8765, + "pi_base_url": "http://192.168.157.33:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.157.12", + "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": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151440_00228", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151440_00228", + "--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_20261019_151440_00228.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151440_00228", + "--control-generation", + "65", + "--ready-token", + "7e810436dcd64efa90f13d880e12fa30", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394346932291732, + "ended_time_ns": 1792394346966611755, + "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_20261019_151440_00228.stop", + "diagnostics_path": 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"import_numpy", + "started_time_ns": 1792394346380621803, + "ok": true, + "ended_time_ns": 1792394346380627321, + "duration_s": 5.518e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394346380628154, + "ok": true, + "ended_time_ns": 1792394346380633784, + "duration_s": 5.63e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394346380634358, + "ok": true, + "ended_time_ns": 1792394346381093357, + "duration_s": 0.000458999 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394346381097709, + "ok": true, + "ended_time_ns": 1792394346381109265, + "duration_s": 1.1556e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394346381110653, + "ok": true, + "ended_time_ns": 1792394346381115339, + "duration_s": 4.686e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394346381116116, + "ok": true, + "ended_time_ns": 1792394346381120320, + "duration_s": 4.204e-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": 1792394346383370649, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394345871439567, + "frame_age_s": 0.512080174, + "heartbeat_age_s": 0.492914397, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394346383540556, + "duration_s": 0.000169907 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394346383550167, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 167.080078125, + "sample_observed_time_ns": 1792394345876179465, + "sample_age_s": 0.507411054, + "heartbeat_age_s": 0.493041267, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394346383599278, + "duration_s": 4.9111e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792394346383603297, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792394346383612185, + "duration_s": 8.888e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792394346383614982, + "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": 1792394346384134740, + "duration_s": 0.000519758 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 65, + "ready_token": "7e810436dcd64efa90f13d880e12fa30", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.ready.json", + "arm_request_id": "1753fbf002fd47ee8a8fd4fdafacf74f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1270, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096045011050, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394346897053319, + "capture_count": 10637, + "capture_error_count": 0, + "writer_count": 336, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 167.080078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15100, + "read_error_count": 0, + "queue_overrun_count": 14500, + "last_read_error": null, + "updated_time_ns": 1792394346892858198, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394346902150457 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394346243342190, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 25974, + "displayed_count": 23531, + "dropped_count": 2441, + "decode_error_count": 0, + "last_receive_time_ns": 1792394346144454055, + "last_frame_time_ns": 1792394346114693023, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096045011050, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394346897053319, + "capture_count": 10637, + "capture_error_count": 0, + "writer_count": 336, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 167.080078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15100, + "read_error_count": 0, + "queue_overrun_count": 14500, + "last_read_error": null, + "updated_time_ns": 1792394346892858198, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394346902150457 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394346970403247, + "ended_time_ns": 1792394347017748438, + "duration_s": 0.000233795, + "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": 1792394347011062405, + "ok": true, + "ended_time_ns": 1792394347011071257, + "duration_s": 8.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394347011073146, + "ok": true, + "ended_time_ns": 1792394347011076090, + "duration_s": 2.944e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394347011076590, + "ok": true, + "ended_time_ns": 1792394347011079831, + "duration_s": 3.241e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394347011080201, + "ok": true, + "ended_time_ns": 1792394347011280516, + "duration_s": 0.000200315 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394347011281719, + "ok": true, + "ended_time_ns": 1792394347011286219, + "duration_s": 4.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394347011286849, + "ok": true, + "ended_time_ns": 1792394347011289164, + "duration_s": 2.315e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394347011289664, + "ok": true, + "ended_time_ns": 1792394347011291830, + "duration_s": 2.166e-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://192.168.157.33:8765/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_20261019_151906_00228", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "--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_20261019_151906_00228.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151906_00228", + "--control-generation", + "66", + "--ready-token", + "0bc75d50b42e4ffcbe75576818bf535a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394347059438289, + "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_20261019_151906_00228.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "timing": { + "server_start_request_time_ns": 1792394347053990689, + "subprocess_popen_time_ns": 1792394347059438289, + "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": 1792394347011058461, + "ended_time_ns": 1792394347011292256, + "duration_s": 0.000233795, + "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": 1792394347011062405, + "ok": true, + "ended_time_ns": 1792394347011071257, + "duration_s": 8.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394347011073146, + "ok": true, + "ended_time_ns": 1792394347011076090, + "duration_s": 2.944e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394347011076590, + "ok": true, + "ended_time_ns": 1792394347011079831, + "duration_s": 3.241e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394347011080201, + "ok": true, + "ended_time_ns": 1792394347011280516, + "duration_s": 0.000200315 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394347011281719, + "ok": true, + "ended_time_ns": 1792394347011286219, + "duration_s": 4.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394347011286849, + "ok": true, + "ended_time_ns": 1792394347011289164, + "duration_s": 2.315e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394347011289664, + "ok": true, + "ended_time_ns": 1792394347011291830, + "duration_s": 2.166e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 66, + "ready_token": "0bc75d50b42e4ffcbe75576818bf535a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1271, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096045011050, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394346897053319, + "capture_count": 10637, + "capture_error_count": 0, + "writer_count": 336, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 167.080078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15100, + "read_error_count": 0, + "queue_overrun_count": 14500, + "last_read_error": null, + "updated_time_ns": 1792394346892858198, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394346902150457 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394346243342190, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 25974, + "displayed_count": 23531, + "dropped_count": 2441, + "decode_error_count": 0, + "last_receive_time_ns": 1792394346144454055, + "last_frame_time_ns": 1792394346114693023, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096045011050, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394346897053319, + "capture_count": 10637, + "capture_error_count": 0, + "writer_count": 336, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 167.080078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15100, + "read_error_count": 0, + "queue_overrun_count": 14500, + "last_read_error": null, + "updated_time_ns": 1792394346892858198, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394346902150457 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.33:8765/start", + "http_status": 200, + "started_time_ns": 1792394347020531386, + "ended_time_ns": 1792394347057207797 + }, + "pi_start_request_time_ns": 1792394347057241869, + "vive_pid": 3607289, + "vive_stop_file": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/control/stop_left_hand.flag", + "vive_start_time_ns": 1792394347063192337, + "capture_start_time_ns": 1792394350605609465, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792394365381314923, + "capture_stop_time_ns": 1792394366315430272, + "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_20261019_151906_00228", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "--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_20261019_151906_00228.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151906_00228", + "--control-generation", + "66", + "--ready-token", + "0bc75d50b42e4ffcbe75576818bf535a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394347059438289, + "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_20261019_151906_00228.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "capture_start_time_ns": 1792394350605609465, + "capture_stop_time_ns": 1792394366315430272, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "timing": { + "server_start_request_time_ns": 1792394347053990689, + "subprocess_popen_time_ns": 1792394347059438289, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792394347119952890, + "validate_start_time_ns": 1792394348179043778, + "session_dir_create_start_time_ns": 1792394347122142237, + "session_dir_create_end_time_ns": 1792394347123448642, + "as5600_init_start_time_ns": 1792394347125125416, + "as5600_init_end_time_ns": 1792394347128577891, + "as5600_zero_start_time_ns": 1792394347130143036, + "as5600_zero_end_time_ns": 1792394347934263141, + "camera_init_start_time_ns": 1792394347935967193, + "camera_init_end_time_ns": 1792394347938120744, + "camera_start_start_time_ns": 1792394347939332649, + "camera_start_end_time_ns": 1792394347940824831, + "camera_first_frame_wait_start_time_ns": 1792394347942512606, + "camera_first_frame_wait_end_time_ns": 1792394347945982913, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394347948244150, + "armed_time_ns": 1792394348176108858, + "waiting_t0_time_ns": 1792394348180505090, + "recording_start_time_ns": 1792394350611399201, + "stop_request_time_ns": 1792394365418826751, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394347011058461, + "ended_time_ns": 1792394347011292256, + "duration_s": 0.000233795, + "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": 1792394347011062405, + "ok": true, + "ended_time_ns": 1792394347011071257, + "duration_s": 8.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394347011073146, + "ok": true, + "ended_time_ns": 1792394347011076090, + "duration_s": 2.944e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394347011076590, + "ok": true, + "ended_time_ns": 1792394347011079831, + "duration_s": 3.241e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394347011080201, + "ok": true, + "ended_time_ns": 1792394347011280516, + "duration_s": 0.000200315 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394347011281719, + "ok": true, + "ended_time_ns": 1792394347011286219, + "duration_s": 4.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394347011286849, + "ok": true, + "ended_time_ns": 1792394347011289164, + "duration_s": 2.315e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394347011289664, + "ok": true, + "ended_time_ns": 1792394347011291830, + "duration_s": 2.166e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 66, + "ready_token": "0bc75d50b42e4ffcbe75576818bf535a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "arm_request_id": "b923f82c71df4c6e8356398a7c0b38ef", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1271, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "running", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096045011050, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 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"waiting_t0_time_ns": 1792394348180505090, + "recording_start_time_ns": 1792394350611399201, + "stop_request_time_ns": 1792394365422571336, + "finalized_time_ns": 1792394366320524938 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394347011058461, + "ended_time_ns": 1792394347011292256, + "duration_s": 0.000233795, + "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": 1792394347011062405, + "ok": true, + "ended_time_ns": 1792394347011071257, + "duration_s": 8.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394347011073146, + "ok": true, + "ended_time_ns": 1792394347011076090, + "duration_s": 2.944e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394347011076590, + "ok": true, + "ended_time_ns": 1792394347011079831, + "duration_s": 3.241e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394347011080201, + "ok": true, + "ended_time_ns": 1792394347011280516, + "duration_s": 0.000200315 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394347011281719, + "ok": true, + "ended_time_ns": 1792394347011286219, + "duration_s": 4.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394347011286849, + "ok": true, + "ended_time_ns": 1792394347011289164, + "duration_s": 2.315e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394347011289664, + "ok": true, + "ended_time_ns": 1792394347011291830, + "duration_s": 2.166e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 66, + "ready_token": "0bc75d50b42e4ffcbe75576818bf535a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "arm_request_id": "b923f82c71df4c6e8356398a7c0b38ef", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1271, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367130406587, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394367133506340, + "capture_count": 769, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.14648437500003, + "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": 1792394367128415257, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394367134495893 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394367042749911, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26157, + "displayed_count": 23664, + "dropped_count": 2492, + "decode_error_count": 0, + "last_receive_time_ns": 1792394367038888159, + "last_frame_time_ns": 1792394367042433060, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367130406587, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394367133506340, + "capture_count": 769, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.14648437500003, + "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": 1792394367128415257, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394367134495893 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792394367405336788, + "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": 1792394367405336053 + } + }, + "updated_time_ns": 1792394367405338695 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_metadata.json b/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f99bc383b72ee6f4fa92126fdf432a412b4d2eaa --- /dev/null +++ b/1016-umi/session_20261019_151906_00228/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792394347067668519, + "platform": { + "system": "Linux", + "release": "6.8.0-138-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/left_hand", + "merged_trajectory_dir": 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0000000000000000000000000000000000000000..4e9592190eec044612ca6a88e147e4cffbce78db --- /dev/null +++ b/1016-umi/session_20261019_151906_00228/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3885 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792394346933667663, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261019_151906_00228", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151906_00228", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": 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"import_gi_gtk", + "started_time_ns": 1792394346667956436, + "ok": true, + "ended_time_ns": 1792394346668205972, + "duration_s": 0.000249536 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394346668207250, + "ok": true, + "ended_time_ns": 1792394346668211768, + "duration_s": 4.518e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394346668212564, + "ok": true, + "ended_time_ns": 1792394346668215768, + "duration_s": 3.204e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394346668216305, + "ok": true, + "ended_time_ns": 1792394346668218750, + "duration_s": 2.445e-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": 1792394346669144783, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394346333928884, + "frame_age_s": 0.335253565, + "heartbeat_age_s": 0.32444404, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394346669188338, + "duration_s": 4.3555e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394346669190542, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 243.63281250000003, + "sample_observed_time_ns": 1792394346328034781, + "sample_age_s": 0.341166261, + "heartbeat_age_s": 0.324478225, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394346669205653, + "duration_s": 1.5111e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792394346669207060, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792394346669210504, + "duration_s": 3.444e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792394346669212116, + "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": 1792394346669352893, + "duration_s": 0.000140777 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 65, + "ready_token": "5d099b02b0694eefa804625905cbb653", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151440_00228.ready.json", + "arm_request_id": "1753fbf002fd47ee8a8fd4fdafacf74f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2097, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096046682363, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394346832420066, + "capture_count": 10513, + "capture_error_count": 0, + "writer_count": 337, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.63281250000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15097, + "read_error_count": 0, + "queue_overrun_count": 14497, + "last_read_error": null, + "updated_time_ns": 1792394346844699529, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394346852426920 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394346125801247, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 25951, + "displayed_count": 16879, + "dropped_count": 9070, + "decode_error_count": 0, + "last_receive_time_ns": 1792394346086129833, + "last_frame_time_ns": 1792394345988721475, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096046682363, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394346832420066, + "capture_count": 10513, + "capture_error_count": 0, + "writer_count": 337, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.63281250000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15097, + "read_error_count": 0, + "queue_overrun_count": 14497, + "last_read_error": null, + "updated_time_ns": 1792394346844699529, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394346852426920 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394346979281883, + "ended_time_ns": 1792394347028601823, + "duration_s": 0.00029561, + "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": 1792394347035359819, + "ok": true, + "ended_time_ns": 1792394347035370578, + "duration_s": 1.0759e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394347035372689, + "ok": true, + "ended_time_ns": 1792394347035376652, + "duration_s": 3.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394347035377356, + "ok": true, + "ended_time_ns": 1792394347035381467, + "duration_s": 4.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394347035382023, + "ok": true, + "ended_time_ns": 1792394347035635892, + "duration_s": 0.000253869 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394347035637670, + "ok": true, + "ended_time_ns": 1792394347035642244, + "duration_s": 4.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394347035643133, + "ok": true, + "ended_time_ns": 1792394347035646373, + "duration_s": 3.24e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394347035646892, + "ok": true, + "ended_time_ns": 1792394347035649540, + "duration_s": 2.648e-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://192.168.157.6:8765/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_20261019_151906_00228", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "--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_20261019_151906_00228.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151906_00228", + "--control-generation", + "66", + "--ready-token", + "b414de9e61c84087bd03fdce298cad3f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394347079099863, + "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_20261019_151906_00228.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "timing": { + "server_start_request_time_ns": 1792394347073498222, + "subprocess_popen_time_ns": 1792394347079099863, + "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": 1792394347035354671, + "ended_time_ns": 1792394347035650281, + "duration_s": 0.00029561, + "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": 1792394347035359819, + "ok": true, + "ended_time_ns": 1792394347035370578, + "duration_s": 1.0759e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394347035372689, + "ok": true, + "ended_time_ns": 1792394347035376652, + "duration_s": 3.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394347035377356, + "ok": true, + "ended_time_ns": 1792394347035381467, + "duration_s": 4.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394347035382023, + "ok": true, + "ended_time_ns": 1792394347035635892, + "duration_s": 0.000253869 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394347035637670, + "ok": true, + "ended_time_ns": 1792394347035642244, + "duration_s": 4.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394347035643133, + "ok": true, + "ended_time_ns": 1792394347035646373, + "duration_s": 3.24e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394347035646892, + "ok": true, + "ended_time_ns": 1792394347035649540, + "duration_s": 2.648e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 66, + "ready_token": "b414de9e61c84087bd03fdce298cad3f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2098, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096046682363, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394346832420066, + "capture_count": 10513, + "capture_error_count": 0, + "writer_count": 337, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.63281250000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15097, + "read_error_count": 0, + "queue_overrun_count": 14497, + "last_read_error": null, + "updated_time_ns": 1792394346844699529, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394346852426920 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394346125801247, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 25951, + "displayed_count": 16879, + "dropped_count": 9070, + "decode_error_count": 0, + "last_receive_time_ns": 1792394346086129833, + "last_frame_time_ns": 1792394345988721475, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151440_00228", + "generation": 65, + "session_count": 65, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096046682363, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394346832420066, + "capture_count": 10513, + "capture_error_count": 0, + "writer_count": 337, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.63281250000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15097, + "read_error_count": 0, + "queue_overrun_count": 14497, + "last_read_error": null, + "updated_time_ns": 1792394346844699529, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394346852426920 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.6:8765/start", + "http_status": 200, + "started_time_ns": 1792394347032853227, + "ended_time_ns": 1792394347137000030 + }, + "pi_start_request_time_ns": 1792394347137012590, + "capture_start_time_ns": 1792394350605609465, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792394365493551555, + "capture_stop_time_ns": 1792394366315430272, + "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_20261019_151906_00228", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "--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_20261019_151906_00228.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151906_00228", + "--control-generation", + "66", + "--ready-token", + "b414de9e61c84087bd03fdce298cad3f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394347079099863, + "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_20261019_151906_00228.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "capture_start_time_ns": 1792394350605609465, + "capture_stop_time_ns": 1792394366315430272, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "timing": { + "server_start_request_time_ns": 1792394347073498222, + "subprocess_popen_time_ns": 1792394347079099863, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394347147997812, + "validate_start_time_ns": 1792394348190004659, + "session_dir_create_start_time_ns": 1792394347148973511, + "session_dir_create_end_time_ns": 1792394347150077118, + "as5600_init_start_time_ns": 1792394347151720610, + "as5600_init_end_time_ns": 1792394347152673865, + "as5600_zero_start_time_ns": 1792394347155214669, + "as5600_zero_end_time_ns": 1792394347964094305, + "camera_init_start_time_ns": 1792394347965644206, + "camera_init_end_time_ns": 1792394347967652067, + "camera_start_start_time_ns": 1792394347968559767, + "camera_start_end_time_ns": 1792394347969983519, + "camera_first_frame_wait_start_time_ns": 1792394347971341310, + "camera_first_frame_wait_end_time_ns": 1792394347972707748, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394347973914465, + "armed_time_ns": 1792394348188421129, + "waiting_t0_time_ns": 1792394348192132279, + "recording_start_time_ns": 1792394350606991519, + "stop_request_time_ns": 1792394365527475262, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394347035354671, + "ended_time_ns": 1792394347035650281, + "duration_s": 0.00029561, + "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": 1792394347035359819, + "ok": true, + "ended_time_ns": 1792394347035370578, + "duration_s": 1.0759e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394347035372689, + "ok": true, + "ended_time_ns": 1792394347035376652, + "duration_s": 3.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394347035377356, + "ok": true, + "ended_time_ns": 1792394347035381467, + "duration_s": 4.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394347035382023, + "ok": true, + "ended_time_ns": 1792394347035635892, + "duration_s": 0.000253869 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394347035637670, + "ok": true, + "ended_time_ns": 1792394347035642244, + "duration_s": 4.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394347035643133, + "ok": true, + "ended_time_ns": 1792394347035646373, + "duration_s": 3.24e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394347035646892, + "ok": true, + "ended_time_ns": 1792394347035649540, + "duration_s": 2.648e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 66, + "ready_token": "b414de9e61c84087bd03fdce298cad3f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "arm_request_id": "b923f82c71df4c6e8356398a7c0b38ef", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2098, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "running", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 65, + "last_bootstrap_time_ns": 1792394096046682363, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394347108836600, + "capture_count": 10524, + "capture_error_count": 0, + "writer_count": 337, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.63281250000003, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 600, + "max_queue_depth": 600, + "read_count": 15112, + "read_error_count": 0, + "queue_overrun_count": 14512, + "last_read_error": null, + "updated_time_ns": 1792394347094702367, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394347111810364 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.6:8765/stop", + "http_status": 200, + "started_time_ns": 1792394365494193210, + "ended_time_ns": 1792394365527474544 + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151906_00228", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "--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_20261019_151906_00228.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151906_00228", + "--control-generation", + "66", + "--ready-token", + "b414de9e61c84087bd03fdce298cad3f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394367622766538, + "ended_time_ns": 1792394367655830536, + "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_20261019_151906_00228.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "capture_start_time_ns": 1792394350605609465, + "capture_stop_time_ns": 1792394366315430272, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "timing": { + "server_start_request_time_ns": 1792394347073498222, + "subprocess_popen_time_ns": 1792394347079099863, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394347147997812, + "validate_start_time_ns": 1792394348190004659, + "session_dir_create_start_time_ns": 1792394347148973511, + "session_dir_create_end_time_ns": 1792394347150077118, + "as5600_init_start_time_ns": 1792394347151720610, + "as5600_init_end_time_ns": 1792394347152673865, + "as5600_zero_start_time_ns": 1792394347155214669, + "as5600_zero_end_time_ns": 1792394347964094305, + "camera_init_start_time_ns": 1792394347965644206, + "camera_init_end_time_ns": 1792394347967652067, + "camera_start_start_time_ns": 1792394347968559767, + "camera_start_end_time_ns": 1792394347969983519, + "camera_first_frame_wait_start_time_ns": 1792394347971341310, + "camera_first_frame_wait_end_time_ns": 1792394347972707748, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394347973914465, + "armed_time_ns": 1792394348188421129, + "waiting_t0_time_ns": 1792394348192132279, + "recording_start_time_ns": 1792394350606991519, + "stop_request_time_ns": 1792394365530593137, + "finalized_time_ns": 1792394366320607488 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394347035354671, + "ended_time_ns": 1792394347035650281, + "duration_s": 0.00029561, + "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": 1792394347035359819, + "ok": true, + "ended_time_ns": 1792394347035370578, + "duration_s": 1.0759e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394347035372689, + "ok": true, + "ended_time_ns": 1792394347035376652, + "duration_s": 3.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394347035377356, + "ok": true, + "ended_time_ns": 1792394347035381467, + "duration_s": 4.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394347035382023, + "ok": true, + "ended_time_ns": 1792394347035635892, + "duration_s": 0.000253869 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394347035637670, + "ok": true, + "ended_time_ns": 1792394347035642244, + "duration_s": 4.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394347035643133, + "ok": true, + "ended_time_ns": 1792394347035646373, + "duration_s": 3.24e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394347035646892, + "ok": true, + "ended_time_ns": 1792394347035649540, + "duration_s": 2.648e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 66, + "ready_token": "b414de9e61c84087bd03fdce298cad3f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "arm_request_id": "b923f82c71df4c6e8356398a7c0b38ef", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2098, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367132276464, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394367620641859, + "capture_count": 787, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.46435547122348, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 79, + "max_queue_depth": 79, + "read_count": 79, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394367630303759, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394367640986730 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394367414166584, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + 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42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ 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+/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 66, + "ready_token": "0bc75d50b42e4ffcbe75576818bf535a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "arm_request_id": "b923f82c71df4c6e8356398a7c0b38ef", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1271, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367130406587, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394370155922038, + "capture_count": 890, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.14648437500003, + "gripper_gap_mm": 84.67370430324732, + "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": 1792394370165289297, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394370167894607 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394370291228544, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26185, + "displayed_count": 23690, + "dropped_count": 2494, + "decode_error_count": 0, + "last_receive_time_ns": 1792394370273716301, + "last_frame_time_ns": 1792394370291091452, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367130406587, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394370155922038, + "capture_count": 890, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.14648437500003, + "gripper_gap_mm": 84.67370430324732, + "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": 1792394370165289297, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394370167894607 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "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": 1792394370489593920, + "ended_time_ns": 1792394370516870043, + "duration_s": 0.001798922, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394370530494989, + "ended_time_ns": 1792394370530817562, + "duration_s": 0.000322573, + "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": 1792394370530501340, + "ok": true, + "ended_time_ns": 1792394370530515489, + "duration_s": 1.4149e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394370530517155, + "ok": true, + "ended_time_ns": 1792394370530520896, + "duration_s": 3.741e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394370530521377, + "ok": true, + "ended_time_ns": 1792394370530525414, + "duration_s": 4.037e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394370530525785, + "ok": true, + "ended_time_ns": 1792394370530801451, + "duration_s": 0.000275666 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394370530803173, + "ok": true, + "ended_time_ns": 1792394370530808951, + "duration_s": 5.778e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394370530810006, + "ok": true, + "ended_time_ns": 1792394370530813247, + "duration_s": 3.241e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394370530813784, + "ok": true, + "ended_time_ns": 1792394370530816988, + "duration_s": 3.204e-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": 1792394370531853671, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394370155922038, + "frame_age_s": 0.375974448, + "heartbeat_age_s": 0.363977064, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394370531903541, + "duration_s": 4.987e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394370531906189, + "status_ok": true, + "gap_mm": 84.67370430324732, + "reference_angle_deg": 165.14648437500003, + "sample_observed_time_ns": 1792394370165289297, + "sample_age_s": 0.366634689, + "heartbeat_age_s": 0.364022212, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394370531929097, + "duration_s": 2.2908e-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": 1792394370531935634, + "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": 1792394370532166430, + "duration_s": 0.000230796 + } + }, + "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://192.168.157.33:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792394370516879693, + "ended_time_ns": 1792394370736736741, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-817EC589\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-817EC589", + "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": "192.168.157.6", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "requested_tracker_serial": "LHR-4F99A346", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151906_00228", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "--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_20261019_151906_00228.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151906_00228", + "--control-generation", + "66", + "--ready-token", + "b414de9e61c84087bd03fdce298cad3f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394370736754078, + "ended_time_ns": 1792394370772398369, + "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_20261019_151906_00228.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "capture_start_time_ns": 1792394350605609465, + "capture_stop_time_ns": 1792394366315430272, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "timing": { + "server_start_request_time_ns": 1792394347073498222, + "subprocess_popen_time_ns": 1792394347079099863, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394347147997812, + "validate_start_time_ns": 1792394348190004659, + "session_dir_create_start_time_ns": 1792394347148973511, + "session_dir_create_end_time_ns": 1792394347150077118, + "as5600_init_start_time_ns": 1792394347151720610, + "as5600_init_end_time_ns": 1792394347152673865, + "as5600_zero_start_time_ns": 1792394347155214669, + "as5600_zero_end_time_ns": 1792394347964094305, + "camera_init_start_time_ns": 1792394347965644206, + "camera_init_end_time_ns": 1792394347967652067, + "camera_start_start_time_ns": 1792394347968559767, + "camera_start_end_time_ns": 1792394347969983519, + "camera_first_frame_wait_start_time_ns": 1792394347971341310, + "camera_first_frame_wait_end_time_ns": 1792394347972707748, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394347973914465, + "armed_time_ns": 1792394348188421129, + "waiting_t0_time_ns": 1792394348192132279, + "recording_start_time_ns": 1792394350606991519, + "stop_request_time_ns": 1792394365530593137, + "finalized_time_ns": 1792394366320607488 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394347035354671, + "ended_time_ns": 1792394347035650281, + "duration_s": 0.00029561, + "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": 1792394347035359819, + "ok": true, + "ended_time_ns": 1792394347035370578, + "duration_s": 1.0759e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394347035372689, + "ok": true, + "ended_time_ns": 1792394347035376652, + "duration_s": 3.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394347035377356, + "ok": true, + "ended_time_ns": 1792394347035381467, + "duration_s": 4.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394347035382023, + "ok": true, + "ended_time_ns": 1792394347035635892, + "duration_s": 0.000253869 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394347035637670, + "ok": true, + "ended_time_ns": 1792394347035642244, + "duration_s": 4.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394347035643133, + "ok": true, + "ended_time_ns": 1792394347035646373, + "duration_s": 3.24e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394347035646892, + "ok": true, + "ended_time_ns": 1792394347035649540, + "duration_s": 2.648e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 66, + "ready_token": "b414de9e61c84087bd03fdce298cad3f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "arm_request_id": "b923f82c71df4c6e8356398a7c0b38ef", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2098, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367132276464, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394370668270658, + "capture_count": 909, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.46435547122348, + "gripper_gap_mm": 84.9864043413772, + "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": 1792394370663639401, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394370679239664 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394370578584636, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26164, + "displayed_count": 16979, + "dropped_count": 9183, + "decode_error_count": 0, + "last_receive_time_ns": 1792394370527510310, + "last_frame_time_ns": 1792394370402491262, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367132276464, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394370668270658, + "capture_count": 909, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.46435547122348, + "gripper_gap_mm": 84.9864043413772, + "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": 1792394370663639401, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394370679239664 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "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": 1792394370833872005, + "ended_time_ns": 1792394370862552761, + "duration_s": 0.001569771, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394370870579210, + "ended_time_ns": 1792394370870886172, + "duration_s": 0.000306962, + "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": 1792394370870583859, + "ok": true, + "ended_time_ns": 1792394370870594599, + "duration_s": 1.074e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394370870596099, + "ok": true, + "ended_time_ns": 1792394370870599951, + "duration_s": 3.852e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394370870600655, + "ok": true, + "ended_time_ns": 1792394370870604988, + "duration_s": 4.333e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394370870605544, + "ok": true, + "ended_time_ns": 1792394370870872172, + "duration_s": 0.000266628 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394370870873820, + "ok": true, + "ended_time_ns": 1792394370870878765, + "duration_s": 4.945e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394370870879672, + "ok": true, + "ended_time_ns": 1792394370870882468, + "duration_s": 2.796e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394370870882968, + "ok": true, + "ended_time_ns": 1792394370870885431, + "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": 1792394370871787872, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394370668270658, + "frame_age_s": 0.203560769, + "heartbeat_age_s": 0.192566337, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394370871838242, + "duration_s": 5.037e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394370871840946, + "status_ok": true, + "gap_mm": 84.9864043413772, + "reference_angle_deg": 243.46435547122348, + "sample_observed_time_ns": 1792394370663639401, + "sample_age_s": 0.208212693, + "heartbeat_age_s": 0.19260543, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394370871857223, + "duration_s": 1.6277e-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": 1792394370871863316, + "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": 1792394370872019334, + "duration_s": 0.000156018 + } + }, + "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://192.168.157.6:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792394370862566580, + "ended_time_ns": 1792394371063277243, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-4F99A346\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "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": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_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/teleai/Tele-UMI/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792394594585989489, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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": "192.168.157.33", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_f95ccb4e258f242e.sock zhang@192.168.157.33 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/left_hand'", + "returncode": 0, + "started_time_ns": 1792394587462474778, + "ended_time_ns": 1792394587494874711, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_f95ccb4e258f242e.sock' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792394587495001491, + "ended_time_ns": 1792394587671142598, + "transferred_bytes": 13582, + "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: 13,582 bytes\nTotal transferred file size: 13,582 bytes\nLiteral data: 13,582 bytes\nMatched data: 0 bytes\nFile list size: 76\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,719\n\nsent 46 bytes received 13,719 bytes 27,530.00 bytes/sec\ntotal size is 13,582 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_f95ccb4e258f242e.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/left_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/", + "returncode": 0, + "started_time_ns": 1792394587671500639, + "ended_time_ns": 1792394594585450869, + "transferred_bytes": 24488715, + "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: 24,488,715 bytes\nTotal transferred file size: 24,488,715 bytes\nLiteral data: 24,488,715 bytes\nMatched data: 0 bytes\nFile list size: 231\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 24,495,100\n\nsent 168 bytes received 24,495,100 bytes 3,266,035.73 bytes/sec\ntotal size is 24,488,715 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 24502297, + "copied_local_bytes": 25472230, + "started_time_ns": 1792394587461909986, + "ended_time_ns": 1792394594585609119 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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": "192.168.157.6", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_8687a29132ec720e.sock zhang@192.168.157.6 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/right_hand'", + "returncode": 0, + "started_time_ns": 1792394587462501006, + "ended_time_ns": 1792394587494838492, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_8687a29132ec720e.sock' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/right_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792394587495039610, + "ended_time_ns": 1792394587671078437, + "transferred_bytes": 13599, + "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: 13,599 bytes\nTotal transferred file size: 13,599 bytes\nLiteral data: 13,599 bytes\nMatched data: 0 bytes\nFile list size: 76\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,736\n\nsent 46 bytes received 13,736 bytes 27,564.00 bytes/sec\ntotal size is 13,599 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_8687a29132ec720e.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/right_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/", + "returncode": 0, + "started_time_ns": 1792394587671357438, + "ended_time_ns": 1792394591873934954, + "transferred_bytes": 16784619, + "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: 16,784,619 bytes\nTotal transferred file size: 16,784,619 bytes\nLiteral data: 16,784,619 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: 16,789,115\n\nsent 168 bytes received 16,789,115 bytes 3,730,951.78 bytes/sec\ntotal size is 16,784,619 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 16798218, + "copied_local_bytes": 17742190, + "started_time_ns": 1792394587462013133, + "ended_time_ns": 1792394591874106050 + }, + "error": null + } + }, + "pi_integrated_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229", + "pi_integrated_dirs": { + "left_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "right_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand" + }, + "pi_integrated_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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": "1016-umi", + "session_id": "session_20261019_151931_00229", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792466287632967306, + "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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792466287159161225, + "ended_time_ns": 1792466287632770323, + "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": 1792466287159161225, + "ended_time_ns": 1792466287411091504, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_151931_00229", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.33", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_151931_00229 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.33 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151931_00229\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792394374776877155\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792394374776877155，vive_T0=1792394374776877155，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394392617900884，vive_Tstop=1792394392617900884，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005268s，first=1792394374782144663，T0=1792394374776877155，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000742s，last=1792394392617159099，Tstop=1792394392617900884，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3568\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: 199.99983811619492 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 199.99983811619492 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 3568，metadata 3568\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 199.99983648255255 Hz，最低 150.0 Hz，时长 17.835014581680298 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 199.99983648255255 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=0.00751042366027832s，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 0.999999999257902..1.0000000007404357，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.004423454017500124m，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=1.5742117640928344deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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=714 duration=17.85s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=714，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 714，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=713，rows=714，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=714，monotonic违规=0，估算频率=40.03877607549677Hz，最大间隔=0.033910617s；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: 714，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.038775409972715 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: 40.038775409972715 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=0.033909358s，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 1071，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 98.0649..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: 1071，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00000360785069 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: 60.00000360785069 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=0.020832292s，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=1071，bad_rows=0，monotonic违规=0，估算频率=60.00000672336524Hz，最大间隔=0.020832365s；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 714，metadata 714\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1071，metadata 1071\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 714，timestamps 714，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=714，timestamps=714，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=0.042s，video=17.85s，timestamps=17.807737442s\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=0.026s，camera=17.807737442s，clamp=17.833332261s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792394374776877155，pi_T0=1792394374776877155，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394392617900884，pi_Tstop=1792394392617900884，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.008395s，first=1792394374785272449，T0=1792394374776877155，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.001556s，first=1792394374778433019，T0=1792394374776877155，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.024891s，last=1792394392593009891，Tstop=1792394392617900884，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.006136s，last=1792394392611765280，Tstop=1792394392617900884，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.027277s，vive=17.835014436s，camera=17.807737442s，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=17.835014436s，clamp=17.833332261s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.003128s，vive_first=1792394374782144663，camera_first=1792394374785272449，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.003712s，vive_first=1792394374782144663，clamp_first=1792394374778433019，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.024149s，vive_last=1792394392617159099，camera_last=1792394392593009891，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.005394s，vive_last=1792394392617159099，clamp_last=1792394392611765280，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_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": 1792466287411306930, + "ended_time_ns": 1792466287632770323, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_151931_00229", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.6", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_151931_00229 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.6 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151931_00229\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792394374776877155\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792394374776877155，vive_T0=1792394374776877155，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394392617900884，vive_Tstop=1792394392617900884，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005268s，first=1792394374782144663，T0=1792394374776877155，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000742s，last=1792394392617159099，Tstop=1792394392617900884，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3568\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: 199.99983811619492 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 199.99983811619492 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 3568，metadata 3568\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 199.99983648255255 Hz，最低 150.0 Hz，时长 17.835014581680298 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 199.99983648255255 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=0.00751042366027832s，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 0.9999999993272352..1.0000000006829664，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.006539197620570661m，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=1.715211051802341deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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=714 duration=17.85s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=714，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 714，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=713，rows=714，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=714，monotonic违规=0，估算频率=40.02435230689274Hz，最大间隔=0.041994607s；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: 714，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.024352556284484 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: 40.024352556284484 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=0.041995088s，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 1071，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 96.929..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: 1071，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99997625795332 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: 59.99997625795332 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=0.021462218s，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=1071，bad_rows=0，monotonic违规=0，估算频率=59.999974888608634Hz，最大间隔=0.02146244s；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 714，metadata 714\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1071，metadata 1071\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 714，timestamps 714，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=714，timestamps=714，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=0.036s，video=17.85s，timestamps=17.814154495s\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=0.019s，camera=17.814154495s，clamp=17.83334039s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792394374776877155，pi_T0=1792394374776877155，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394392617900884，pi_Tstop=1792394392617900884，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013752s，first=1792394374790629546，T0=1792394374776877155，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003430s，first=1792394374780306907，T0=1792394374776877155，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013117s，last=1792394392604784041，Tstop=1792394392617900884，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004254s，last=1792394392613647297，Tstop=1792394392617900884，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.020860s，vive=17.835014436s，camera=17.814154495s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001674s，vive=17.835014436s，clamp=17.83334039s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.008485s，vive_first=1792394374782144663，camera_first=1792394374790629546，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.001838s，vive_first=1792394374782144663，clamp_first=1792394374780306907，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.012375s，vive_last=1792394392617159099，camera_last=1792394392604784041，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.003512s，vive_last=1792394392617159099，clamp_last=1792394392613647297，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151931_00229\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792394374776877155\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792394374776877155，vive_T0=1792394374776877155，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394392617900884，vive_Tstop=1792394392617900884，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005268s，first=1792394374782144663，T0=1792394374776877155，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000742s，last=1792394392617159099，Tstop=1792394392617900884，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3568\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: 199.99983811619492 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 199.99983811619492 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 3568，metadata 3568\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 199.99983648255255 Hz，最低 150.0 Hz，时长 17.835014581680298 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 199.99983648255255 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=0.00751042366027832s，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 0.999999999257902..1.0000000007404357，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.004423454017500124m，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=1.5742117640928344deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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=714 duration=17.85s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=714，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 714，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=713，rows=714，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=714，monotonic违规=0，估算频率=40.03877607549677Hz，最大间隔=0.033910617s；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: 714，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.038775409972715 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: 40.038775409972715 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=0.033909358s，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 1071，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 98.0649..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: 1071，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00000360785069 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: 60.00000360785069 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=0.020832292s，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=1071，bad_rows=0，monotonic违规=0，估算频率=60.00000672336524Hz，最大间隔=0.020832365s；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 714，metadata 714\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1071，metadata 1071\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 714，timestamps 714，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=714，timestamps=714，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=0.042s，video=17.85s，timestamps=17.807737442s\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=0.026s，camera=17.807737442s，clamp=17.833332261s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792394374776877155，pi_T0=1792394374776877155，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394392617900884，pi_Tstop=1792394392617900884，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.008395s，first=1792394374785272449，T0=1792394374776877155，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.001556s，first=1792394374778433019，T0=1792394374776877155，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.024891s，last=1792394392593009891，Tstop=1792394392617900884，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.006136s，last=1792394392611765280，Tstop=1792394392617900884，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.027277s，vive=17.835014436s，camera=17.807737442s，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=17.835014436s，clamp=17.833332261s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.003128s，vive_first=1792394374782144663，camera_first=1792394374785272449，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.003712s，vive_first=1792394374782144663，clamp_first=1792394374778433019，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.024149s，vive_last=1792394392617159099，camera_last=1792394392593009891，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.005394s，vive_last=1792394392617159099，clamp_last=1792394392611765280，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_151931_00229\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792394374776877155\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792394374776877155，vive_T0=1792394374776877155，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394392617900884，vive_Tstop=1792394392617900884，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005268s，first=1792394374782144663，T0=1792394374776877155，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000742s，last=1792394392617159099，Tstop=1792394392617900884，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3568\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: 199.99983811619492 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 199.99983811619492 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 3568，metadata 3568\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 199.99983648255255 Hz，最低 150.0 Hz，时长 17.835014581680298 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 199.99983648255255 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=0.00751042366027832s，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 0.9999999993272352..1.0000000006829664，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.006539197620570661m，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=1.715211051802341deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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=714 duration=17.85s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=714，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 714，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=713，rows=714，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=714，monotonic违规=0，估算频率=40.02435230689274Hz，最大间隔=0.041994607s；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: 714，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.024352556284484 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: 40.024352556284484 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=0.041995088s，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 1071，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 96.929..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: 1071，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99997625795332 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: 59.99997625795332 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=0.021462218s，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=1071，bad_rows=0，monotonic违规=0，估算频率=59.999974888608634Hz，最大间隔=0.02146244s；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 714，metadata 714\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 1071，metadata 1071\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 714，timestamps 714，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=714，timestamps=714，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=0.036s，video=17.85s，timestamps=17.814154495s\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=0.019s，camera=17.814154495s，clamp=17.83334039s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792394374776877155，pi_T0=1792394374776877155，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394392617900884，pi_Tstop=1792394392617900884，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013752s，first=1792394374790629546，T0=1792394374776877155，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003430s，first=1792394374780306907，T0=1792394374776877155，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013117s，last=1792394392604784041，Tstop=1792394392617900884，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004254s，last=1792394392613647297，Tstop=1792394392617900884，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.020860s，vive=17.835014436s，camera=17.814154495s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001674s，vive=17.835014436s，clamp=17.83334039s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.008485s，vive_first=1792394374782144663，camera_first=1792394374790629546，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.001838s，vive_first=1792394374782144663，clamp_first=1792394374780306907，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.012375s，vive_last=1792394392617159099，camera_last=1792394392604784041，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.003512s，vive_last=1792394392617159099，clamp_last=1792394392613647297，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_151931_00229_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": 1792466286515993840 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_151931_00229/control/stop_left_hand.flag b/1016-umi/session_20261019_151931_00229/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..e326d1dba99b4e47f6058ca5e3d4976698e91f19 --- /dev/null +++ b/1016-umi/session_20261019_151931_00229/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792394392617900884 \ No newline at end of file diff --git a/1016-umi/session_20261019_151931_00229/left_hand/Clamp_Data/clamp_data_tum.txt b/1016-umi/session_20261019_151931_00229/left_hand/Clamp_Data/clamp_data_tum.txt new 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}, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 1071, + "clamp_first_sample_time_ns": 1792394374778433019, + "clamp_last_sample_time_ns": 1792394392611765280, + "clamp_actual_hz": 60.00000360785069, + "clamp_value_min": 98.06494509240743, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 301, + "read_count": 1578, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 3651 + }, + "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/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..389cbaffa8093b5c18d70be1913cf325fb993342 --- /dev/null +++ b/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4272 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792394371171965110, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261019_151931_00229", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "pc_pi_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_device": "0", + "camera_width": 1280, + "camera_height": 960, + 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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/teleai/Tele-UMI/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": "192.168.157.33", + "pi_port": 8765, + "pi_base_url": "http://192.168.157.33:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.157.12", + "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": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151906_00228", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + 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1792394365422571336, + "finalized_time_ns": 1792394366320524938 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792394370530370748, + "ended_time_ns": 1792394370532169670, + "duration_s": 0.001798922, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394370530494989, + "ended_time_ns": 1792394370530817562, + "duration_s": 0.000322573, + "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": 1792394370530501340, + "ok": true, + "ended_time_ns": 1792394370530515489, + "duration_s": 1.4149e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394370530517155, + "ok": true, + "ended_time_ns": 1792394370530520896, + "duration_s": 3.741e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394370530521377, + "ok": true, + "ended_time_ns": 1792394370530525414, + "duration_s": 4.037e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394370530525785, + "ok": true, + "ended_time_ns": 1792394370530801451, + "duration_s": 0.000275666 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394370530803173, + "ok": true, + "ended_time_ns": 1792394370530808951, + "duration_s": 5.778e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394370530810006, + "ok": true, + "ended_time_ns": 1792394370530813247, + "duration_s": 3.241e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394370530813784, + "ok": true, + "ended_time_ns": 1792394370530816988, + "duration_s": 3.204e-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": 1792394370531853671, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394370155922038, + "frame_age_s": 0.375974448, + "heartbeat_age_s": 0.363977064, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394370531903541, + "duration_s": 4.987e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394370531906189, + "status_ok": true, + "gap_mm": 84.67370430324732, + "reference_angle_deg": 165.14648437500003, + "sample_observed_time_ns": 1792394370165289297, + "sample_age_s": 0.366634689, + "heartbeat_age_s": 0.364022212, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394370531929097, + "duration_s": 2.2908e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792394370531930708, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792394370531934152, + "duration_s": 3.444e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792394370531935634, + "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": 1792394370532166430, + "duration_s": 0.000230796 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 66, + "ready_token": "0bc75d50b42e4ffcbe75576818bf535a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "arm_request_id": "b923f82c71df4c6e8356398a7c0b38ef", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1271, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367130406587, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394371156337600, + "capture_count": 930, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.14648437500003, + "gripper_gap_mm": 84.67370430324732, + "status_ok": true, + "queue_size": 600, + "queue_depth": 291, + "max_queue_depth": 291, + "read_count": 291, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394371161752663, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394371177842464 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394370291228544, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26185, + "displayed_count": 23690, + "dropped_count": 2494, + "decode_error_count": 0, + "last_receive_time_ns": 1792394370273716301, + "last_frame_time_ns": 1792394370291091452, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367130406587, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394371156337600, + "capture_count": 930, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.14648437500003, + "gripper_gap_mm": 84.67370430324732, + "status_ok": true, + "queue_size": 600, + "queue_depth": 291, + "max_queue_depth": 291, + "read_count": 291, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394371161752663, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394371177842464 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394371216738753, + "ended_time_ns": 1792394371250877966, + "duration_s": 0.000303259, + "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": 1792394371258653543, + "ok": true, + "ended_time_ns": 1792394371258664728, + "duration_s": 1.1185e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394371258667024, + "ok": true, + "ended_time_ns": 1792394371258670728, + "duration_s": 3.704e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394371258671394, + "ok": true, + "ended_time_ns": 1792394371258675450, + "duration_s": 4.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394371258676005, + "ok": true, + "ended_time_ns": 1792394371258937042, + "duration_s": 0.000261037 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394371258938838, + "ok": true, + "ended_time_ns": 1792394371258943727, + "duration_s": 4.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394371258944560, + "ok": true, + "ended_time_ns": 1792394371258947764, + "duration_s": 3.204e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394371258948301, + "ok": true, + "ended_time_ns": 1792394371258951116, + "duration_s": 2.815e-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://192.168.157.33:8765/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_20261019_151931_00229", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "--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_20261019_151931_00229.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151931_00229", + "--control-generation", + "67", + "--ready-token", + "8851801244eb49cc8cded0004ce80b19", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394371300663828, + "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_20261019_151931_00229.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "timing": { + "server_start_request_time_ns": 1792394371294161212, + "subprocess_popen_time_ns": 1792394371300663828, + "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": 1792394371258648450, + "ended_time_ns": 1792394371258951709, + "duration_s": 0.000303259, + "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": 1792394371258653543, + "ok": true, + "ended_time_ns": 1792394371258664728, + "duration_s": 1.1185e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394371258667024, + "ok": true, + "ended_time_ns": 1792394371258670728, + "duration_s": 3.704e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394371258671394, + "ok": true, + "ended_time_ns": 1792394371258675450, + "duration_s": 4.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394371258676005, + "ok": true, + "ended_time_ns": 1792394371258937042, + "duration_s": 0.000261037 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394371258938838, + "ok": true, + "ended_time_ns": 1792394371258943727, + "duration_s": 4.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394371258944560, + "ok": true, + "ended_time_ns": 1792394371258947764, + "duration_s": 3.204e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394371258948301, + "ok": true, + "ended_time_ns": 1792394371258951116, + "duration_s": 2.815e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 67, + "ready_token": "8851801244eb49cc8cded0004ce80b19", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1272, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367130406587, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394371156337600, + "capture_count": 930, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.14648437500003, + "gripper_gap_mm": 84.67370430324732, + "status_ok": true, + "queue_size": 600, + "queue_depth": 291, + "max_queue_depth": 291, + "read_count": 291, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394371161752663, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394371177842464 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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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+ "started_time_ns": 1792394371258676005, + "ok": true, + "ended_time_ns": 1792394371258937042, + "duration_s": 0.000261037 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394371258938838, + "ok": true, + "ended_time_ns": 1792394371258943727, + "duration_s": 4.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394371258944560, + "ok": true, + "ended_time_ns": 1792394371258947764, + "duration_s": 3.204e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394371258948301, + "ok": true, + "ended_time_ns": 1792394371258951116, + "duration_s": 2.815e-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": "192.168.157.12", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + 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(192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 67, + "ready_token": "8851801244eb49cc8cded0004ce80b19", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "arm_request_id": "187f71df2726434ab97363508cdb04b1", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1272, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "running", + "session_id": "session_20261019_151931_00229", + "generation": 67, + "session_count": 67, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367130406587, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394371332528431, + "capture_count": 937, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.14648437500003, + "gripper_gap_mm": 84.67370430324732, + "status_ok": true, + "queue_size": 600, + "queue_depth": 301, + "max_queue_depth": 301, + "read_count": 301, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394371328514791, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394371335779406 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.33:8765/stop", + "http_status": 200, + "started_time_ns": 1792394391667579153, + "ended_time_ns": 1792394391888017659 + }, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261019_151931_00229", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 392537 + }, + "raw_trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 392941 + }, + "pc_metadata": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 140467 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 385949 + }, + "raw_trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 390609 + }, + "pc_metadata": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 128533 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151931_00229", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "--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_20261019_151931_00229.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151931_00229", + "--control-generation", + "67", + "--ready-token", + "8851801244eb49cc8cded0004ce80b19", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394393880523824, + "ended_time_ns": 1792394393924647824, + "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_20261019_151931_00229.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.diagnostics.json", + "capture_start_time_ns": 1792394374776877155, + "capture_stop_time_ns": 1792394392617900884, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "timing": { + "server_start_request_time_ns": 1792394371294161212, + "subprocess_popen_time_ns": 1792394371300663828, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792394371339076177, + "validate_start_time_ns": 1792394372356731945, + "session_dir_create_start_time_ns": 1792394371339885546, + "session_dir_create_end_time_ns": 1792394371340905285, + "as5600_init_start_time_ns": 1792394371342004893, + "as5600_init_end_time_ns": 1792394371342836855, + "as5600_zero_start_time_ns": 1792394371344150982, + "as5600_zero_end_time_ns": 1792394372157998623, + "camera_init_start_time_ns": 1792394372159376138, + "camera_init_end_time_ns": 1792394372161239375, + "camera_start_start_time_ns": 1792394372163937981, + "camera_start_end_time_ns": 1792394372165281404, + "camera_first_frame_wait_start_time_ns": 1792394372166630994, + "camera_first_frame_wait_end_time_ns": 1792394372167950047, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394372169149600, + "armed_time_ns": 1792394372355474022, + "waiting_t0_time_ns": 1792394372360251642, + "recording_start_time_ns": 1792394374780568292, + "stop_request_time_ns": 1792394391707598450, + "finalized_time_ns": 1792394392623732737 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394371258648450, + "ended_time_ns": 1792394371258951709, + "duration_s": 0.000303259, + "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": 1792394371258653543, + "ok": true, + "ended_time_ns": 1792394371258664728, + "duration_s": 1.1185e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394371258667024, + "ok": true, + "ended_time_ns": 1792394371258670728, + "duration_s": 3.704e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394371258671394, + "ok": true, + "ended_time_ns": 1792394371258675450, + "duration_s": 4.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394371258676005, + "ok": true, + "ended_time_ns": 1792394371258937042, + "duration_s": 0.000261037 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394371258938838, + "ok": true, + "ended_time_ns": 1792394371258943727, + "duration_s": 4.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394371258944560, + "ok": true, + "ended_time_ns": 1792394371258947764, + "duration_s": 3.204e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394371258948301, + "ok": true, + "ended_time_ns": 1792394371258951116, + "duration_s": 2.815e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 67, + "ready_token": "8851801244eb49cc8cded0004ce80b19", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "arm_request_id": "187f71df2726434ab97363508cdb04b1", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1272, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151931_00229", + "generation": 67, + "session_count": 67, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 67, + "last_bootstrap_time_ns": 1792394393432886498, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394393418617194, + "capture_count": 851, + "capture_error_count": 0, + "writer_count": 714, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.9063721147088, + "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": 1792394393430880243, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394393436267955 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394393652354039, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26390, + "displayed_count": 23838, + "dropped_count": 2551, + "decode_error_count": 0, + "last_receive_time_ns": 1792394393528730269, + "last_frame_time_ns": 1792394393652120780, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_151931_00229", + "generation": 67, + "session_count": 67, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 67, + "last_bootstrap_time_ns": 1792394393432886498, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394393418617194, + "capture_count": 851, + "capture_error_count": 0, + "writer_count": 714, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 165.9063721147088, + "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": 1792394393430880243, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394393436267955 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792394393930188224, + "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": 1792394393930187782 + } + }, + "updated_time_ns": 1792394393930189719 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_metadata.json b/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7f70ddd37ce5247f96038632b5d4a7a7d62df9dc --- /dev/null +++ b/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792394371308888179, + "platform": { + "system": "Linux", + "release": "6.8.0-138-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand", + "merged_trajectory_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Merged_Trajectory", + "metadata_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata", + "vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-817EC589", + "tracker_serials": [ + "LHR-817EC589", + "LHR-4F99A346" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792394374776877155, + "capture_stop_time_ns": 1792394392617900884, + "effective_capture_stop_time_ns": 1792394392617900884, + "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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/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": 2, + 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0000000000000000000000000000000000000000..fead1da3b624183d06383ee21cabae246f7c7f2b --- /dev/null +++ b/1016-umi/session_20261019_151931_00229/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3885 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792394371172830516, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261019_151931_00229", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229/right_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_151931_00229", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": 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"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_20261019_151906_00228.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151906_00228", + "--control-generation", + "66", + "--ready-token", + "b414de9e61c84087bd03fdce298cad3f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394371173559973, + "ended_time_ns": 1792394371237815662, + "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_20261019_151906_00228.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.diagnostics.json", + "capture_start_time_ns": 1792394350605609465, + "capture_stop_time_ns": 1792394366315430272, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151906_00228/right_hand", + "timing": { + "server_start_request_time_ns": 1792394347073498222, + "subprocess_popen_time_ns": 1792394347079099863, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394347147997812, + "validate_start_time_ns": 1792394348190004659, + "session_dir_create_start_time_ns": 1792394347148973511, + "session_dir_create_end_time_ns": 1792394347150077118, + "as5600_init_start_time_ns": 1792394347151720610, + "as5600_init_end_time_ns": 1792394347152673865, + "as5600_zero_start_time_ns": 1792394347155214669, + "as5600_zero_end_time_ns": 1792394347964094305, + "camera_init_start_time_ns": 1792394347965644206, + "camera_init_end_time_ns": 1792394347967652067, + "camera_start_start_time_ns": 1792394347968559767, + "camera_start_end_time_ns": 1792394347969983519, + "camera_first_frame_wait_start_time_ns": 1792394347971341310, + "camera_first_frame_wait_end_time_ns": 1792394347972707748, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394347973914465, + "armed_time_ns": 1792394348188421129, + "waiting_t0_time_ns": 1792394348192132279, + "recording_start_time_ns": 1792394350606991519, + "stop_request_time_ns": 1792394365530593137, + "finalized_time_ns": 1792394366320607488 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792394370870451896, + "ended_time_ns": 1792394370872021667, + "duration_s": 0.001569771, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394370870579210, + "ended_time_ns": 1792394370870886172, + "duration_s": 0.000306962, + "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": 1792394370870583859, + "ok": true, + "ended_time_ns": 1792394370870594599, + "duration_s": 1.074e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394370870596099, + "ok": true, + "ended_time_ns": 1792394370870599951, + "duration_s": 3.852e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394370870600655, + "ok": true, + "ended_time_ns": 1792394370870604988, + "duration_s": 4.333e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394370870605544, + "ok": true, + "ended_time_ns": 1792394370870872172, + "duration_s": 0.000266628 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394370870873820, + "ok": true, + "ended_time_ns": 1792394370870878765, + "duration_s": 4.945e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394370870879672, + "ok": true, + "ended_time_ns": 1792394370870882468, + "duration_s": 2.796e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394370870882968, + "ok": true, + "ended_time_ns": 1792394370870885431, + "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": 1792394370871787872, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394370668270658, + "frame_age_s": 0.203560769, + "heartbeat_age_s": 0.192566337, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394370871838242, + "duration_s": 5.037e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394370871840946, + "status_ok": true, + "gap_mm": 84.9864043413772, + "reference_angle_deg": 243.46435547122348, + "sample_observed_time_ns": 1792394370663639401, + "sample_age_s": 0.208212693, + "heartbeat_age_s": 0.19260543, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394370871857223, + "duration_s": 1.6277e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792394370871858723, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792394370871861927, + "duration_s": 3.204e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792394370871863316, + "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": 1792394370872019334, + "duration_s": 0.000156018 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 66, + "ready_token": "b414de9e61c84087bd03fdce298cad3f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151906_00228.ready.json", + "arm_request_id": "b923f82c71df4c6e8356398a7c0b38ef", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2098, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367132276464, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394370668270658, + "capture_count": 909, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.46435547122348, + "gripper_gap_mm": 84.9864043413772, + "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": 1792394370663639401, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394370679239664 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394370578584636, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26164, + "displayed_count": 16979, + "dropped_count": 9183, + "decode_error_count": 0, + "last_receive_time_ns": 1792394370527510310, + "last_frame_time_ns": 1792394370402491262, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367132276464, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394370668270658, + "capture_count": 909, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.46435547122348, + "gripper_gap_mm": 84.9864043413772, + "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": 1792394370663639401, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394370679239664 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394371241535613, + "ended_time_ns": 1792394371260310843, + "duration_s": 0.000232128, + "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": 1792394371274192449, + "ok": true, + "ended_time_ns": 1792394371274201060, + "duration_s": 8.611e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394371274202949, + "ok": true, + "ended_time_ns": 1792394371274206079, + "duration_s": 3.13e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394371274206542, + "ok": true, + "ended_time_ns": 1792394371274209597, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394371274209986, + "ok": true, + "ended_time_ns": 1792394371274408893, + "duration_s": 0.000198907 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394371274410356, + "ok": true, + "ended_time_ns": 1792394371274414281, + "duration_s": 3.925e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394371274414837, + "ok": true, + "ended_time_ns": 1792394371274417430, + "duration_s": 2.593e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394371274417781, + "ok": true, + "ended_time_ns": 1792394371274419670, + "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://192.168.157.6:8765/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_20261019_151931_00229", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "--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_20261019_151931_00229.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151931_00229", + "--control-generation", + "67", + "--ready-token", + "e626c12f6baa4fc08c53c1ff549cc1de", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394371299272966, + "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_20261019_151931_00229.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/right_hand", + "timing": { + "server_start_request_time_ns": 1792394371294261081, + "subprocess_popen_time_ns": 1792394371299272966, + "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": 1792394371274188079, + "ended_time_ns": 1792394371274420207, + "duration_s": 0.000232128, + "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": 1792394371274192449, + "ok": true, + "ended_time_ns": 1792394371274201060, + "duration_s": 8.611e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394371274202949, + "ok": true, + "ended_time_ns": 1792394371274206079, + "duration_s": 3.13e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394371274206542, + "ok": true, + "ended_time_ns": 1792394371274209597, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394371274209986, + "ok": true, + "ended_time_ns": 1792394371274408893, + "duration_s": 0.000198907 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394371274410356, + "ok": true, + "ended_time_ns": 1792394371274414281, + "duration_s": 3.925e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394371274414837, + "ok": true, + "ended_time_ns": 1792394371274417430, + "duration_s": 2.593e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394371274417781, + "ok": true, + "ended_time_ns": 1792394371274419670, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 67, + "ready_token": "e626c12f6baa4fc08c53c1ff549cc1de", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2099, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367132276464, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394371168345315, + "capture_count": 929, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.46435547122348, + "gripper_gap_mm": 84.9864043413772, + "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": 1792394371180303298, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394371184099781 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394370578584636, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26164, + "displayed_count": 16979, + "dropped_count": 9183, + "decode_error_count": 0, + "last_receive_time_ns": 1792394370527510310, + "last_frame_time_ns": 1792394370402491262, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151906_00228", + "generation": 66, + "session_count": 66, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367132276464, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394371168345315, + "capture_count": 929, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.46435547122348, + "gripper_gap_mm": 84.9864043413772, + "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": 1792394371180303298, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394371184099781 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.6:8765/start", + "http_status": 200, + "started_time_ns": 1792394371265312253, + "ended_time_ns": 1792394371302874894 + }, + "pi_start_request_time_ns": 1792394371302885589, + "capture_start_time_ns": 1792394374776877155, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792394391712397120, + "capture_stop_time_ns": 1792394392617900884, + "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_20261019_151931_00229", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "--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_20261019_151931_00229.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151931_00229", + "--control-generation", + "67", + "--ready-token", + "e626c12f6baa4fc08c53c1ff549cc1de", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394371299272966, + "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_20261019_151931_00229.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.diagnostics.json", + "capture_start_time_ns": 1792394374776877155, + "capture_stop_time_ns": 1792394392617900884, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/right_hand", + "timing": { + "server_start_request_time_ns": 1792394371294261081, + "subprocess_popen_time_ns": 1792394371299272966, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394371349710220, + "validate_start_time_ns": 1792394372383976528, + "session_dir_create_start_time_ns": 1792394371350811808, + "session_dir_create_end_time_ns": 1792394371351973062, + "as5600_init_start_time_ns": 1792394371353412481, + "as5600_init_end_time_ns": 1792394371354493402, + "as5600_zero_start_time_ns": 1792394371356069229, + "as5600_zero_end_time_ns": 1792394372159844333, + "camera_init_start_time_ns": 1792394372161362493, + "camera_init_end_time_ns": 1792394372163361261, + "camera_start_start_time_ns": 1792394372166558599, + "camera_start_end_time_ns": 1792394372168586886, + "camera_first_frame_wait_start_time_ns": 1792394372170414970, + "camera_first_frame_wait_end_time_ns": 1792394372171755168, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394372173183421, + "armed_time_ns": 1792394372382968680, + "waiting_t0_time_ns": 1792394372385899074, + "recording_start_time_ns": 1792394374777070514, + "stop_request_time_ns": 1792394391848037762, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394371274188079, + "ended_time_ns": 1792394371274420207, + "duration_s": 0.000232128, + "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": 1792394371274192449, + "ok": true, + "ended_time_ns": 1792394371274201060, + "duration_s": 8.611e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394371274202949, + "ok": true, + "ended_time_ns": 1792394371274206079, + "duration_s": 3.13e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394371274206542, + "ok": true, + "ended_time_ns": 1792394371274209597, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394371274209986, + "ok": true, + "ended_time_ns": 1792394371274408893, + "duration_s": 0.000198907 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394371274410356, + "ok": true, + "ended_time_ns": 1792394371274414281, + "duration_s": 3.925e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394371274414837, + "ok": true, + "ended_time_ns": 1792394371274417430, + "duration_s": 2.593e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394371274417781, + "ok": true, + "ended_time_ns": 1792394371274419670, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 67, + "ready_token": "e626c12f6baa4fc08c53c1ff549cc1de", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "arm_request_id": "187f71df2726434ab97363508cdb04b1", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2099, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "running", + "session_id": "session_20261019_151931_00229", + "generation": 67, + "session_count": 67, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 66, + "last_bootstrap_time_ns": 1792394367132276464, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394371318407195, + "capture_count": 935, + "capture_error_count": 0, + "writer_count": 629, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.46435547122348, + "gripper_gap_mm": 84.9864043413772, + "status_ok": true, + "queue_size": 600, + "queue_depth": 301, + "max_queue_depth": 301, + "read_count": 301, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394371330307085, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394371345975200 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.6:8765/stop", + "http_status": 200, + "started_time_ns": 1792394391712777985, + "ended_time_ns": 1792394391906328365 + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_151931_00229", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "--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_20261019_151931_00229.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_151931_00229", + "--control-generation", + "67", + "--ready-token", + "e626c12f6baa4fc08c53c1ff549cc1de", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394394118413939, + "ended_time_ns": 1792394394155703399, + "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_20261019_151931_00229.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.diagnostics.json", + "capture_start_time_ns": 1792394374776877155, + "capture_stop_time_ns": 1792394392617900884, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_151931_00229/right_hand", + "timing": { + "server_start_request_time_ns": 1792394371294261081, + "subprocess_popen_time_ns": 1792394371299272966, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394371349710220, + "validate_start_time_ns": 1792394372383976528, + "session_dir_create_start_time_ns": 1792394371350811808, + "session_dir_create_end_time_ns": 1792394371351973062, + "as5600_init_start_time_ns": 1792394371353412481, + "as5600_init_end_time_ns": 1792394371354493402, + "as5600_zero_start_time_ns": 1792394371356069229, + "as5600_zero_end_time_ns": 1792394372159844333, + "camera_init_start_time_ns": 1792394372161362493, + "camera_init_end_time_ns": 1792394372163361261, + "camera_start_start_time_ns": 1792394372166558599, + "camera_start_end_time_ns": 1792394372168586886, + "camera_first_frame_wait_start_time_ns": 1792394372170414970, + "camera_first_frame_wait_end_time_ns": 1792394372171755168, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394372173183421, + "armed_time_ns": 1792394372382968680, + "waiting_t0_time_ns": 1792394372385899074, + "recording_start_time_ns": 1792394374777070514, + "stop_request_time_ns": 1792394391851662005, + "finalized_time_ns": 1792394392624416119 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394371274188079, + "ended_time_ns": 1792394371274420207, + "duration_s": 0.000232128, + "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": 1792394371274192449, + "ok": true, + "ended_time_ns": 1792394371274201060, + "duration_s": 8.611e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394371274202949, + "ok": true, + "ended_time_ns": 1792394371274206079, + "duration_s": 3.13e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394371274206542, + "ok": true, + "ended_time_ns": 1792394371274209597, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394371274209986, + "ok": true, + "ended_time_ns": 1792394371274408893, + "duration_s": 0.000198907 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394371274410356, + "ok": true, + "ended_time_ns": 1792394371274414281, + "duration_s": 3.925e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394371274414837, + "ok": true, + "ended_time_ns": 1792394371274417430, + "duration_s": 2.593e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394371274417781, + "ok": true, + "ended_time_ns": 1792394371274419670, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 67, + "ready_token": "e626c12f6baa4fc08c53c1ff549cc1de", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_151931_00229.ready.json", + "arm_request_id": "187f71df2726434ab97363508cdb04b1", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2099, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_151931_00229", + "generation": 67, + "session_count": 67, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 67, + "last_bootstrap_time_ns": 1792394393434609176, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394393929051672, + "capture_count": 872, + "capture_error_count": 0, + "writer_count": 714, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": 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seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 69, + "ready_token": "fad2680b51424d4493cedd79303eb9b0", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.ready.json", + "arm_request_id": "b175567c58084bbe9582592e7a10c735", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1274, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438983173141, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394441510992131, + "capture_count": 797, + "capture_error_count": 0, + "writer_count": 591, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 163.40302136162467, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 317, + "read_count": 2934, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394441514220365, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394441518946022 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394441139490415, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26810, + "displayed_count": 24158, + "dropped_count": 2650, + "decode_error_count": 0, + "last_receive_time_ns": 1792394441087384946, + "last_frame_time_ns": 1792394441047131194, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438983173141, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394441510992131, + "capture_count": 797, + "capture_error_count": 0, + "writer_count": 591, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 163.40302136162467, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 317, + "read_count": 2934, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394441514220365, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394441518946022 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.33" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "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": 1792394441897212390, + "ended_time_ns": 1792394441916417953, + "duration_s": 0.001462164, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394441931924692, + "ended_time_ns": 1792394441932186821, + "duration_s": 0.000262129, + "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": 1792394441931928636, + "ok": true, + "ended_time_ns": 1792394441931937544, + "duration_s": 8.908e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394441931938673, + "ok": true, + "ended_time_ns": 1792394441931941729, + "duration_s": 3.056e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394441931942192, + "ok": true, + "ended_time_ns": 1792394441931945247, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394441931945636, + "ok": true, + "ended_time_ns": 1792394441932174210, + "duration_s": 0.000228574 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394441932175728, + "ok": true, + "ended_time_ns": 1792394441932180469, + "duration_s": 4.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394441932181247, + "ok": true, + "ended_time_ns": 1792394441932183636, + "duration_s": 2.389e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394441932184117, + "ok": true, + "ended_time_ns": 1792394441932186395, + "duration_s": 2.278e-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": 1792394441933043412, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394441510992131, + "frame_age_s": 0.422100318, + "heartbeat_age_s": 0.414118575, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394441933100541, + "duration_s": 5.7129e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394441933102652, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 163.40302136162467, + "sample_observed_time_ns": 1792394441514220365, + "sample_age_s": 0.418892843, + "heartbeat_age_s": 0.41415976, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394441933117245, + "duration_s": 1.4593e-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": 1792394441933123726, + "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": 1792394441933288985, + "duration_s": 0.000165259 + } + }, + "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://192.168.157.33:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792394441916427942, + "ended_time_ns": 1792394442010369347, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-817EC589\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-817EC589", + "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": "192.168.157.6", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "requested_tracker_serial": "LHR-4F99A346", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_152020_00231", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152020_00231", + "--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_20261019_152020_00231.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_152020_00231", + "--control-generation", + "69", + "--ready-token", + "580cfa8f45424f1fa2ef7826c3123482", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394442010385913, + "ended_time_ns": 1792394442062342261, + "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_20261019_152020_00231.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.diagnostics.json", + "capture_start_time_ns": 1792394424170692166, + "capture_stop_time_ns": 1792394438973710096, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152020_00231", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152020_00231/right_hand", + "timing": { + "server_start_request_time_ns": 1792394420699763312, + "subprocess_popen_time_ns": 1792394420705257269, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394420757041462, + "validate_start_time_ns": 1792394421771176323, + "session_dir_create_start_time_ns": 1792394420758107161, + "session_dir_create_end_time_ns": 1792394420760055671, + "as5600_init_start_time_ns": 1792394420761986347, + "as5600_init_end_time_ns": 1792394420763791265, + "as5600_zero_start_time_ns": 1792394420766048144, + "as5600_zero_end_time_ns": 1792394421571149742, + "camera_init_start_time_ns": 1792394421573019659, + "camera_init_end_time_ns": 1792394421575284668, + "camera_start_start_time_ns": 1792394421576466144, + "camera_start_end_time_ns": 1792394421578205617, + "camera_first_frame_wait_start_time_ns": 1792394421579961480, + "camera_first_frame_wait_end_time_ns": 1792394421581857582, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394421586326507, + "armed_time_ns": 1792394421735806982, + "waiting_t0_time_ns": 1792394421773957273, + "recording_start_time_ns": 1792394424172857401, + "stop_request_time_ns": 1792394438152091658, + "finalized_time_ns": 1792394438981884960 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394420666487222, + "ended_time_ns": 1792394420666796128, + "duration_s": 0.000308906, + "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": 1792394420666492110, + "ok": true, + "ended_time_ns": 1792394420666503333, + "duration_s": 1.1223e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394420666505814, + "ok": true, + "ended_time_ns": 1792394420666509629, + "duration_s": 3.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394420666510370, + "ok": true, + "ended_time_ns": 1792394420666514258, + "duration_s": 3.888e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394420666514795, + "ok": true, + "ended_time_ns": 1792394420666780998, + "duration_s": 0.000266203 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394420666782794, + "ok": true, + "ended_time_ns": 1792394420666787683, + "duration_s": 4.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394420666788572, + "ok": true, + "ended_time_ns": 1792394420666792053, + "duration_s": 3.481e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394420666792739, + "ok": true, + "ended_time_ns": 1792394420666795424, + "duration_s": 2.685e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 69, + "ready_token": "580cfa8f45424f1fa2ef7826c3123482", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.ready.json", + "arm_request_id": "b175567c58084bbe9582592e7a10c735", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2101, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438986165311, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394442023282584, + "capture_count": 814, + "capture_error_count": 0, + "writer_count": 587, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 245.9985351584442, + "gripper_gap_mm": 81.261195137303, + "status_ok": true, + "queue_size": 600, + "queue_depth": 184, + "max_queue_depth": 320, + "read_count": 2965, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442032577598, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442041272207 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", 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null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.157.12", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.157.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.157.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.157.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.157.6" + ], + "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/teleai/Tele-UMI/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": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "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": 1792394442102729503, + "ended_time_ns": 1792394442126608556, + "duration_s": 0.001962084, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394442138204585, + "ended_time_ns": 1792394442138570787, + "duration_s": 0.000366202, + "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": 1792394442138210196, + "ok": true, + "ended_time_ns": 1792394442138223919, + "duration_s": 1.3723e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394442138225622, + "ok": true, + "ended_time_ns": 1792394442138229826, + "duration_s": 4.204e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394442138230530, + "ok": true, + "ended_time_ns": 1792394442138234807, + "duration_s": 4.277e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394442138235326, + "ok": true, + "ended_time_ns": 1792394442138540491, + "duration_s": 0.000305165 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394442138543658, + "ok": true, + "ended_time_ns": 1792394442138554880, + "duration_s": 1.1222e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394442138556158, + "ok": true, + "ended_time_ns": 1792394442138563250, + "duration_s": 7.092e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394442138564102, + "ok": true, + "ended_time_ns": 1792394442138569769, + "duration_s": 5.667e-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": 1792394442139741356, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394442023282584, + "frame_age_s": 0.116508031, + "heartbeat_age_s": 0.098489927, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394442139797523, + "duration_s": 5.6167e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394442139800597, + "status_ok": true, + "gap_mm": 81.261195137303, + "reference_angle_deg": 245.9985351584442, + "sample_observed_time_ns": 1792394442032577598, + "sample_age_s": 0.107234573, + "heartbeat_age_s": 0.098532612, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394442139817208, + "duration_s": 1.6611e-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": 1792394442139823893, + "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": 1792394442140002874, + "duration_s": 0.000178981 + } + }, + "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://192.168.157.6:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792394442126617742, + "ended_time_ns": 1792394442211296209, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-4F99A346\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-4F99A346", + "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": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_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/teleai/Tele-UMI/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792394577912585357, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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": "192.168.157.33", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_f95ccb4e258f242e.sock zhang@192.168.157.33 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/left_hand'", + "returncode": 0, + "started_time_ns": 1792394573589450574, + "ended_time_ns": 1792394573607357571, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_f95ccb4e258f242e.sock' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/left_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792394573607434768, + "ended_time_ns": 1792394573696819166, + "transferred_bytes": 13580, + "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: 13,580 bytes\nTotal transferred file size: 13,580 bytes\nLiteral data: 13,580 bytes\nMatched data: 0 bytes\nFile list size: 76\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,717\n\nsent 46 bytes received 13,717 bytes 27,526.00 bytes/sec\ntotal size is 13,580 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_f95ccb4e258f242e.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.33:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/left_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/", + "returncode": 0, + "started_time_ns": 1792394573697029857, + "ended_time_ns": 1792394577912083137, + "transferred_bytes": 20434809, + "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: 20,434,809 bytes\nTotal transferred file size: 20,434,809 bytes\nLiteral data: 20,434,809 bytes\nMatched data: 0 bytes\nFile list size: 231\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 20,440,210\n\nsent 168 bytes received 20,440,210 bytes 4,542,306.22 bytes/sec\ntotal size is 20,434,809 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 20448389, + "copied_local_bytes": 21294317, + "started_time_ns": 1792394573588933504, + "ended_time_ns": 1792394577912246487 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "folders": { + "Clamp_Data": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Merged_Trajectory", + "RGB_Images": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/RGB_Images", + "Metadata": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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": "192.168.157.6", + "remote_source": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/session_001/hand_single" + ], + "local_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_8687a29132ec720e.sock zhang@192.168.157.6 'test -d /home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/right_hand'", + "returncode": 0, + "started_time_ns": 1792394573589481644, + "ended_time_ns": 1792394573611952061, + "output": "bash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_8687a29132ec720e.sock' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/", + "returncode": 0, + "started_time_ns": 1792394573612075513, + "ended_time_ns": 1792394573704023174, + "transferred_bytes": 13608, + "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: 13,608 bytes\nTotal transferred file size: 13,608 bytes\nLiteral data: 13,608 bytes\nMatched data: 0 bytes\nFile list size: 76\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,745\n\nsent 46 bytes received 13,745 bytes 27,582.00 bytes/sec\ntotal size is 13,608 speedup is 0.99\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + }, + { + "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=/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_ssh/q_8687a29132ec720e.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' zhang@192.168.157.6:/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/right_hand/ /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/", + "returncode": 0, + "started_time_ns": 1792394573704338039, + "ended_time_ns": 1792394576636225653, + "transferred_bytes": 13127726, + "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: 13,127,726 bytes\nTotal transferred file size: 13,127,726 bytes\nLiteral data: 13,127,726 bytes\nMatched data: 0 bytes\nFile list size: 223\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 13,131,335\n\nsent 168 bytes received 13,131,335 bytes 3,751,858.00 bytes/sec\ntotal size is 13,127,726 speedup is 1.00\n\nbash: warning: setlocale: LC_ALL: cannot change locale (en_US.UTF-8): No such file or directory" + } + ], + "transferred_bytes": 13141334, + "copied_local_bytes": 13965083, + "started_time_ns": 1792394573589044807, + "ended_time_ns": 1792394576636381819 + }, + "error": null + } + }, + "pi_integrated_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232", + "pi_integrated_dirs": { + "left_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "right_hand": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand" + }, + "pi_integrated_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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": "1016-umi", + "session_id": "session_20261019_152042_00232", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792466287610989510, + "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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792466287157287009, + "ended_time_ns": 1792466287610586563, + "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": 1792466287157287009, + "ended_time_ns": 1792466287399767251, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_152042_00232", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.33", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_152042_00232 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.33 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_152042_00232\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792394445875158196\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792394445875158196，vive_T0=1792394445875158196，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394460957431175，vive_Tstop=1792394460957431175，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.009726s，first=1792394445884884534，T0=1792394445875158196，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002548s，last=1792394460954883381，Tstop=1792394460957431175，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3015\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: 200.00001530192552 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00001530192552 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 3015，metadata 3015\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00001670670474 Hz，最低 150.0 Hz，时长 15.069998741149902 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00001670670474 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=0.0051844120025634766s，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 0.9999999992535077..1.0000000007025664，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.01545099750389861m，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=1.5974641966282164deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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=604 duration=15.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=604，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 604，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=603，rows=604，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=604，monotonic违规=0，估算频率=40.02558688810139Hz，最大间隔=0.03512341s；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: 604，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02558639393745 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: 40.02558639393745 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=0.035123225s，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 905，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 95.1855..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: 905，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99603879472223 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: 59.99603879472223 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=0.019652904s，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=905，bad_rows=0，monotonic违规=0，估算频率=59.996038428398926Hz，最大间隔=0.019653701s；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 604，metadata 603\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 905，metadata 905\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 604，timestamps 604，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=604，timestamps=604，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=0.035s，video=15.1s，timestamps=15.065363292s\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=15.065363292s，clamp=15.067661435s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792394445875158196，pi_T0=1792394445875158196，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394460957431175，pi_Tstop=1792394460957431175，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.011248s，first=1792394445886406071，T0=1792394445875158196，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.005722s，first=1792394445880880286，T0=1792394445875158196，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.005662s，last=1792394460951769363，Tstop=1792394460957431175，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.008889s，last=1792394460948541721，Tstop=1792394460957431175，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.004636s，vive=15.069998847s，camera=15.065363292s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.002337s，vive=15.069998847s，clamp=15.067661435s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.001522s，vive_first=1792394445884884534，camera_first=1792394445886406071，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.004004s，vive_first=1792394445884884534，clamp_first=1792394445880880286，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.003114s，vive_last=1792394460954883381，camera_last=1792394460951769363，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.006342s，vive_last=1792394460954883381，clamp_last=1792394460948541721，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_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": 1792466287400220397, + "ended_time_ns": 1792466287610586563, + "command": [ + "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3", + "/home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261019_152042_00232", + "--vive-data-dir", + "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "--pi-host", + "192.168.157.6", + "--pi-port", + "8765", + "--pi-report-json", + "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_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", + "--max-zero-position-m", + "0.005", + "--max-zero-rotation-deg", + "5.0", + "--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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand" + ], + "command_text": "/home/teleai/Tele-UMI/TeleUMI-master/.venv/bin/python3 /home/teleai/Tele-UMI/TeleUMI-master/tools/quality/check_joint_session.py --session-id session_20261019_152042_00232 --vive-data-dir /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi --pi-host 192.168.157.6 --pi-port 8765 --pi-report-json /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_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 --max-zero-position-m 0.005 --max-zero-rotation-deg 5.0 --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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "report_path": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_152042_00232\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792394445875158196\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792394445875158196，vive_T0=1792394445875158196，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394460957431175，vive_Tstop=1792394460957431175，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.009726s，first=1792394445884884534，T0=1792394445875158196，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002548s，last=1792394460954883381，Tstop=1792394460957431175，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3015\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: 200.00001530192552 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00001530192552 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 3015，metadata 3015\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00001670670474 Hz，最低 150.0 Hz，时长 15.069998741149902 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00001670670474 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=0.0051844120025634766s，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 0.9999999993042471..1.0000000006707699，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.006492723227277989m，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=1.6196815488187095deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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=603 duration=15.075s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=603，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 603，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=602，rows=603，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=603，monotonic违规=0，估算频率=40.02457909402164Hz，最大间隔=0.033778218s；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: 603，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.024576880007665 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: 40.024576880007665 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=0.033777756s，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 905，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 97.6967..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: 905，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.987725606216436 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: 59.987725606216436 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=0.021123053s，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=905，bad_rows=0，monotonic违规=0，估算频率=59.987723245678204Hz，最大间隔=0.021123739s；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 603，metadata 603\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 905，metadata 905\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 603，timestamps 603，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=603，timestamps=603，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=0.034s，video=15.075s，timestamps=15.040758627s\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=15.040758627s，clamp=15.069749534s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792394445875158196，pi_T0=1792394445875158196，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394460957431175，pi_Tstop=1792394460957431175，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.021015s，first=1792394445896172799，T0=1792394445875158196，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.007423s，first=1792394445882580971，T0=1792394445875158196，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.020500s，last=1792394460936931426，Tstop=1792394460957431175，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005101s，last=1792394460952330505，Tstop=1792394460957431175，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.029240s，vive=15.069998847s，camera=15.040758627s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.000249s，vive=15.069998847s，clamp=15.069749534s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.011288s，vive_first=1792394445884884534，camera_first=1792394445896172799，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002304s，vive_first=1792394445884884534，clamp_first=1792394445882580971，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.017952s，vive_last=1792394460954883381，camera_last=1792394460936931426，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.002553s，vive_last=1792394460954883381，clamp_last=1792394460952330505，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_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, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "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/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_152042_00232\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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=0.000831775s，end=0.000219631s，max=0.000831775s，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=-0.000831775s，end=-0.000219631s，max=0.000831775s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.000612144s，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=1792394445875158196\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792394445875158196，vive_T0=1792394445875158196，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394460957431175，vive_Tstop=1792394460957431175，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.009726s，first=1792394445884884534，T0=1792394445875158196，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002548s，last=1792394460954883381，Tstop=1792394460957431175，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 3015\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: 200.00001530192552 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00001530192552 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 3015，metadata 3015\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00001670670474 Hz，最低 150.0 Hz，时长 15.069998741149902 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00001670670474 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=0.0051844120025634766s，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 0.9999999992535077..1.0000000007025664，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.01545099750389861m，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=1.5974641966282164deg，阈值 30.0deg/样本\n[PASS] 左手设备（left_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 左手设备（left_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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=604 duration=15.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=604，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 604，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=603，rows=604，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=604，monotonic违规=0，估算频率=40.02558688810139Hz，最大间隔=0.03512341s；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: 604，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02558639393745 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: 40.02558639393745 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=0.035123225s，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 905，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 95.1855..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: 905，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99603879472223 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: 59.99603879472223 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=0.019652904s，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=905，bad_rows=0，monotonic违规=0，估算频率=59.996038428398926Hz，最大间隔=0.019653701s；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 604，metadata 603\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 905，metadata 905\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 604，timestamps 604，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=604，timestamps=604，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=0.035s，video=15.1s，timestamps=15.065363292s\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=15.065363292s，clamp=15.067661435s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792394445875158196，pi_T0=1792394445875158196，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394460957431175，pi_Tstop=1792394460957431175，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.011248s，first=1792394445886406071，T0=1792394445875158196，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.005722s，first=1792394445880880286，T0=1792394445875158196，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.005662s，last=1792394460951769363，Tstop=1792394460957431175，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.008889s，last=1792394460948541721，Tstop=1792394460957431175，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.004636s，vive=15.069998847s，camera=15.065363292s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.002337s，vive=15.069998847s，clamp=15.067661435s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.001522s，vive_first=1792394445884884534，camera_first=1792394445886406071，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.004004s，vive_first=1792394445884884534，clamp_first=1792394445880880286，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.003114s，vive_last=1792394460954883381，camera_last=1792394460951769363，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.006342s，vive_last=1792394460954883381，clamp_last=1792394460948541721，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261019_152042_00232\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, \"max_zero_position_m\": 0.005, \"max_zero_rotation_deg\": 5.0, \"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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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=0.000858511s，end=0.000650838s，max=0.000858511s，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=0.000858511s，end=-0.000650838s，max=0.000858511s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.001509349s，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=1792394445875158196\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792394445875158196，vive_T0=1792394445875158196，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792394460957431175，vive_Tstop=1792394460957431175，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.009726s，first=1792394445884884534，T0=1792394445875158196，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002548s，last=1792394460954883381，Tstop=1792394460957431175，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 3015\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: 200.00001530192552 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00001530192552 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 3015，metadata 3015\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00001670670474 Hz，最低 150.0 Hz，时长 15.069998741149902 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00001670670474 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=0.0051844120025634766s，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 0.9999999993042471..1.0000000006707699，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.006492723227277989m，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=1.6196815488187095deg，阈值 30.0deg/样本\n[PASS] 右手设备（right_hand）：VIVE 首行零位移: norm=0.0m，阈值 0.005m（5.0mm）\n[PASS] 右手设备（right_hand）：VIVE 首行零旋转: angle=0.0deg，阈值 5.0deg，目标四元数 0 0 0 1\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/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/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=603 duration=15.075s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=603，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 603，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=602，rows=603，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=603，monotonic违规=0，估算频率=40.02457909402164Hz，最大间隔=0.033778218s；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: 603，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.024576880007665 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: 40.024576880007665 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=0.033777756s，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 905，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 97.6967..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: 905，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.987725606216436 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: 59.987725606216436 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=0.021123053s，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=905，bad_rows=0，monotonic违规=0，估算频率=59.987723245678204Hz，最大间隔=0.021123739s；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 603，metadata 603\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 905，metadata 905\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 603，timestamps 603，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=603，timestamps=603，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=0.034s，video=15.075s，timestamps=15.040758627s\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=15.040758627s，clamp=15.069749534s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792394445875158196，pi_T0=1792394445875158196，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792394460957431175，pi_Tstop=1792394460957431175，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.021015s，first=1792394445896172799，T0=1792394445875158196，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.007423s，first=1792394445882580971，T0=1792394445875158196，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.020500s，last=1792394460936931426，Tstop=1792394460957431175，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005101s，last=1792394460952330505，Tstop=1792394460957431175，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.029240s，vive=15.069998847s，camera=15.040758627s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.000249s，vive=15.069998847s，clamp=15.069749534s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.011288s，vive_first=1792394445884884534，camera_first=1792394445896172799，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002304s，vive_first=1792394445884884534，clamp_first=1792394445882580971，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.017952s，vive_last=1792394460954883381，camera_last=1792394460936931426，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.002553s，vive_last=1792394460954883381，clamp_last=1792394460952330505，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/teleai/Tele-UMI/TeleUMI-master/UI/runtime/quality_reports/1016-umi/session_20261019_152042_00232_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": 1792466286512721516 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_152042_00232/control/stop_left_hand.flag b/1016-umi/session_20261019_152042_00232/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..dfcf3e6cf2678995fe9cce5bb8addb28dae79faf --- /dev/null +++ b/1016-umi/session_20261019_152042_00232/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792394460957431175 \ No newline at end of file diff --git a/1016-umi/session_20261019_152042_00232/left_hand/Clamp_Data/clamp_data_tum.txt b/1016-umi/session_20261019_152042_00232/left_hand/Clamp_Data/clamp_data_tum.txt new 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}, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 905, + "clamp_first_sample_time_ns": 1792394445880880286, + "clamp_last_sample_time_ns": 1792394460948541721, + "clamp_actual_hz": 59.99603879472223, + "clamp_value_min": 95.18553898898084, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 317, + "read_count": 4100, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 3164 + }, + "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/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..1cc4c3a61f1c14d7a80e3121fb9d1b8e5e7908b2 --- /dev/null +++ b/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4272 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792394442297604228, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261019_152042_00232", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "pc_pi_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_device": "0", + "camera_width": 1280, + "camera_height": 960, + 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120.0 + }, + "_source": { + "path": "/home/teleai/Tele-UMI/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": "192.168.157.33", + "pi_port": 8765, + "pi_base_url": "http://192.168.157.33:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.157.12", + "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": "1016-umi", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_152020_00231", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152020_00231", + "--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_20261019_152020_00231.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_152020_00231", + "--control-generation", + "69", + "--ready-token", + "fad2680b51424d4493cedd79303eb9b0", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394442298122840, + "ended_time_ns": 1792394442349910343, + "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_20261019_152020_00231.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.diagnostics.json", + "capture_start_time_ns": 1792394424170692166, + "capture_stop_time_ns": 1792394438973710096, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152020_00231", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152020_00231/left_hand", + "timing": { + "server_start_request_time_ns": 1792394420708050121, + "subprocess_popen_time_ns": 1792394420713305980, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792394420740628314, + "validate_start_time_ns": 1792394421738498807, + "session_dir_create_start_time_ns": 1792394420741848016, + "session_dir_create_end_time_ns": 1792394420742906384, + "as5600_init_start_time_ns": 1792394420744398918, + "as5600_init_end_time_ns": 1792394420745563508, + "as5600_zero_start_time_ns": 1792394420749668778, + "as5600_zero_end_time_ns": 1792394421555432009, + "camera_init_start_time_ns": 1792394421557260857, + "camera_init_end_time_ns": 1792394421559497593, + "camera_start_start_time_ns": 1792394421560583573, + "camera_start_end_time_ns": 1792394421562248847, + "camera_first_frame_wait_start_time_ns": 1792394421563930529, + "camera_first_frame_wait_end_time_ns": 1792394421566755819, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394421568447483, + "armed_time_ns": 1792394421737495513, + "waiting_t0_time_ns": 1792394421740361378, + "recording_start_time_ns": 1792394424171329822, + "stop_request_time_ns": 1792394438118031659, + "finalized_time_ns": 1792394438979967370 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792394441931828488, + "ended_time_ns": 1792394441933290652, + "duration_s": 0.001462164, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394441931924692, + "ended_time_ns": 1792394441932186821, + "duration_s": 0.000262129, + "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": 1792394441931928636, + "ok": true, + "ended_time_ns": 1792394441931937544, + "duration_s": 8.908e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394441931938673, + "ok": true, + "ended_time_ns": 1792394441931941729, + "duration_s": 3.056e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394441931942192, + "ok": true, + "ended_time_ns": 1792394441931945247, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394441931945636, + "ok": true, + "ended_time_ns": 1792394441932174210, + "duration_s": 0.000228574 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394441932175728, + "ok": true, + "ended_time_ns": 1792394441932180469, + "duration_s": 4.741e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394441932181247, + "ok": true, + "ended_time_ns": 1792394441932183636, + "duration_s": 2.389e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394441932184117, + "ok": true, + "ended_time_ns": 1792394441932186395, + "duration_s": 2.278e-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": 1792394441933043412, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394441510992131, + "frame_age_s": 0.422100318, + "heartbeat_age_s": 0.414118575, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394441933100541, + "duration_s": 5.7129e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394441933102652, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 163.40302136162467, + "sample_observed_time_ns": 1792394441514220365, + "sample_age_s": 0.418892843, + "heartbeat_age_s": 0.41415976, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394441933117245, + "duration_s": 1.4593e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792394441933118560, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792394441933121745, + "duration_s": 3.185e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792394441933123726, + "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": 1792394441933288985, + "duration_s": 0.000165259 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 69, + "ready_token": "fad2680b51424d4493cedd79303eb9b0", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.ready.json", + "arm_request_id": "b175567c58084bbe9582592e7a10c735", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1274, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438983173141, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394442011634161, + "capture_count": 817, + "capture_error_count": 0, + "writer_count": 591, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 163.40302136162467, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 317, + "read_count": 2964, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442014209100, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442023874396 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394442158425847, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26819, + "displayed_count": 24167, + "dropped_count": 2651, + "decode_error_count": 0, + "last_receive_time_ns": 1792394442119922443, + "last_frame_time_ns": 1792394442104340715, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438983173141, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394442011634161, + "capture_count": 817, + "capture_error_count": 0, + "writer_count": 591, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 163.40302136162467, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 317, + "read_count": 2964, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442014209100, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442023874396 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377316889706671, + "ended_time_ns": 1792377318650925143 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2398390740000025, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323803818529, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000216160 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025527118 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323803820604, + "ended_time_ns": 1792377323878593945 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000216160 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025527118 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00021616, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025527118 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323878597279, + "ended_time_ns": 1792377323880164454 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,880745537+08:00\n", + "stderr": "", + "started_time_ns": 1792377323880167269, + "ended_time_ns": 1792377323881938987 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377323977667653, + "ended_time_ns": 1792377324064123277 + }, + "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://192.168.157.33:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468910069, + "ended_time_ns": 1792378657499268239 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000219631, + "last_offset_s": -0.000219631, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377323890786776, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:35:23 2026\nSystem time : 0.000197073 seconds slow of NTP time\nLast offset : -0.000219631 seconds\nRMS offset : 0.000219631 seconds\nFrequency : 13.178 ppm fast\nResidual freq : -33.938 ppm\nSkew : 0.945 ppm\nRoot delay : 0.033011977 seconds\nRoot dispersion : 0.025530236 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377323890787832, + "ended_time_ns": 1792377323962952338 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:35:23 2026", + "System time": "0.000197073 seconds slow of NTP time", + "Last offset": "-0.000219631 seconds", + "RMS offset": "0.000219631 seconds", + "Frequency": "13.178 ppm fast", + "Residual freq": "-33.938 ppm", + "Skew": "0.945 ppm", + "Root delay": "0.033011977 seconds", + "Root dispersion": "0.025530236 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000197073, + "Last offset seconds": -0.000219631, + "RMS offset seconds": 0.000219631, + "Root delay seconds": 0.033011977, + "Root dispersion seconds": 0.025530236 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms\n^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms\n^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms\n^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms\n", + "stderr": "", + "started_time_ns": 1792377323962960951, + "ended_time_ns": 1792377323966218364 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "193.182.111.14", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 193.182.111.14 2 6 7 0 -17ms[ -17ms] +/- 121ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 +998us[ +779us] +/- 54ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^- 162.159.200.123 3 6 7 0 +4042us[+3822us] +/- 94ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.157.12 3 4 7 0 +59us[ -161us] +/- 42ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:35:23,967173950+08:00\n", + "stderr": "", + "started_time_ns": 1792377323966222124, + "ended_time_ns": 1792377323967480051 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394442351881612, + "ended_time_ns": 1792394442375336315, + "duration_s": 0.000399073, + "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": 1792394442386072482, + "ok": true, + "ended_time_ns": 1792394442386095408, + "duration_s": 2.2926e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394442386099426, + "ok": true, + "ended_time_ns": 1792394442386105204, + "duration_s": 5.778e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394442386105926, + "ok": true, + "ended_time_ns": 1792394442386113982, + "duration_s": 8.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394442386114834, + "ok": true, + "ended_time_ns": 1792394442386441611, + "duration_s": 0.000326777 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394442386444296, + "ok": true, + "ended_time_ns": 1792394442386450574, + "duration_s": 6.278e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394442386451444, + "ok": true, + "ended_time_ns": 1792394442386454852, + "duration_s": 3.408e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394442386455574, + "ok": true, + "ended_time_ns": 1792394442386458426, + "duration_s": 2.852e-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://192.168.157.33:8765/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_20261019_152042_00232", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "--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_20261019_152042_00232.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_152042_00232", + "--control-generation", + "70", + "--ready-token", + "0f9ba237e7ae4e55b1af7bc7d6dc98d8", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394442420165191, + "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_20261019_152042_00232.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "timing": { + "server_start_request_time_ns": 1792394442414878165, + "subprocess_popen_time_ns": 1792394442420165191, + "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": 1792394442386059908, + "ended_time_ns": 1792394442386458981, + "duration_s": 0.000399073, + "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": 1792394442386072482, + "ok": true, + "ended_time_ns": 1792394442386095408, + "duration_s": 2.2926e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394442386099426, + "ok": true, + "ended_time_ns": 1792394442386105204, + "duration_s": 5.778e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394442386105926, + "ok": true, + "ended_time_ns": 1792394442386113982, + "duration_s": 8.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394442386114834, + "ok": true, + "ended_time_ns": 1792394442386441611, + "duration_s": 0.000326777 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394442386444296, + "ok": true, + "ended_time_ns": 1792394442386450574, + "duration_s": 6.278e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394442386451444, + "ok": true, + "ended_time_ns": 1792394442386454852, + "duration_s": 3.408e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394442386455574, + "ok": true, + "ended_time_ns": 1792394442386458426, + "duration_s": 2.852e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 70, + "ready_token": "0f9ba237e7ae4e55b1af7bc7d6dc98d8", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1275, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438983173141, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394442011634161, + "capture_count": 817, + "capture_error_count": 0, + "writer_count": 591, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 163.40302136162467, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 317, + "read_count": 2964, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442014209100, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442023874396 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394442158425847, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26819, + "displayed_count": 24167, + "dropped_count": 2651, + "decode_error_count": 0, + "last_receive_time_ns": 1792394442119922443, + "last_frame_time_ns": 1792394442104340715, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438983173141, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394442011634161, + "capture_count": 817, + "capture_error_count": 0, + "writer_count": 591, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 163.40302136162467, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 317, + "read_count": 2964, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442014209100, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442023874396 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.33:8765/start", + "http_status": 200, + "started_time_ns": 1792394442377708928, + "ended_time_ns": 1792394442420818257 + }, + "pi_start_request_time_ns": 1792394442420825566, + "vive_pid": 3607289, + "vive_stop_file": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/control/stop_left_hand.flag", + "vive_start_time_ns": 1792394442423382695, + "capture_start_time_ns": 1792394445875158196, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792394460079989669, + "capture_stop_time_ns": 1792394460957431175, + "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_20261019_152042_00232", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "--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_20261019_152042_00232.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_152042_00232", + "--control-generation", + "70", + "--ready-token", + "0f9ba237e7ae4e55b1af7bc7d6dc98d8", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394442420165191, + "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_20261019_152042_00232.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "capture_start_time_ns": 1792394445875158196, + "capture_stop_time_ns": 1792394460957431175, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "timing": { + "server_start_request_time_ns": 1792394442414878165, + "subprocess_popen_time_ns": 1792394442420165191, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792394442437250953, + "validate_start_time_ns": 1792394443454726944, + "session_dir_create_start_time_ns": 1792394442438200136, + "session_dir_create_end_time_ns": 1792394442439154394, + "as5600_init_start_time_ns": 1792394442440801076, + "as5600_init_end_time_ns": 1792394442444480735, + "as5600_zero_start_time_ns": 1792394442445907306, + "as5600_zero_end_time_ns": 1792394443250309836, + "camera_init_start_time_ns": 1792394443251930481, + "camera_init_end_time_ns": 1792394443254037607, + "camera_start_start_time_ns": 1792394443255092827, + "camera_start_end_time_ns": 1792394443256734564, + "camera_first_frame_wait_start_time_ns": 1792394443258870115, + "camera_first_frame_wait_end_time_ns": 1792394443262222998, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394443263807680, + "armed_time_ns": 1792394443453663816, + "waiting_t0_time_ns": 1792394443456607310, + "recording_start_time_ns": 1792394445876331999, + "stop_request_time_ns": 1792394460126667300, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394442386059908, + "ended_time_ns": 1792394442386458981, + "duration_s": 0.000399073, + "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": 1792394442386072482, + "ok": true, + "ended_time_ns": 1792394442386095408, + "duration_s": 2.2926e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394442386099426, + "ok": true, + "ended_time_ns": 1792394442386105204, + "duration_s": 5.778e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394442386105926, + "ok": true, + "ended_time_ns": 1792394442386113982, + "duration_s": 8.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394442386114834, + "ok": true, + "ended_time_ns": 1792394442386441611, + "duration_s": 0.000326777 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394442386444296, + "ok": true, + "ended_time_ns": 1792394442386450574, + "duration_s": 6.278e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394442386451444, + "ok": true, + "ended_time_ns": 1792394442386454852, + "duration_s": 3.408e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394442386455574, + "ok": true, + "ended_time_ns": 1792394442386458426, + "duration_s": 2.852e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 70, + "ready_token": "0f9ba237e7ae4e55b1af7bc7d6dc98d8", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "arm_request_id": "a00dfa3067e943c79f4ed65195528725", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1275, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "running", + "session_id": "session_20261019_152042_00232", + "generation": 70, + "session_count": 70, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438983173141, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394442411078006, + "capture_count": 833, + "capture_error_count": 0, + "writer_count": 591, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 163.40302136162467, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 207, + "max_queue_depth": 317, + "read_count": 2988, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442414213277, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442431156336 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.33:8765/stop", + "http_status": 200, + "started_time_ns": 1792394460080353074, + "ended_time_ns": 1792394460123424832 + }, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261019_152042_00232", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 330440 + }, + "raw_trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 331106 + }, + "pc_metadata": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 140393 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 326440 + }, + "raw_trajectory": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 329890 + }, + "pc_metadata": { + "path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 128536 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_152042_00232", + "pid": 1097, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "--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_20261019_152042_00232.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_152042_00232", + "--control-generation", + "70", + "--ready-token", + "0f9ba237e7ae4e55b1af7bc7d6dc98d8", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394460962870300, + "ended_time_ns": 1792394460999489722, + "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_20261019_152042_00232.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "capture_start_time_ns": 1792394445875158196, + "capture_stop_time_ns": 1792394460957431175, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "timing": { + "server_start_request_time_ns": 1792394442414878165, + "subprocess_popen_time_ns": 1792394442420165191, + "process_entry_time_ns": 1789138078263328206, + "module_import_start_time_ns": 1789138078355541620, + "import_log_utils_start_time_ns": 1789138078355542843, + "import_log_utils_end_time_ns": 1789138078357594834, + "import_as5600_start_time_ns": 1789138078357595779, + "import_as5600_end_time_ns": 1789138078439489996, + "import_pi_session_start_time_ns": 1789138078439491514, + "import_pi_session_end_time_ns": 1789138078525599620, + "import_usb_camera_start_time_ns": 1789138078525600842, + "import_usb_camera_end_time_ns": 1789138078559851224, + "configure_stdio_start_time_ns": 1789138078615600489, + "configure_stdio_end_time_ns": 1789138078615892060, + "capture_entry_time_ns": 1792394442437250953, + "validate_start_time_ns": 1792394443454726944, + "session_dir_create_start_time_ns": 1792394442438200136, + "session_dir_create_end_time_ns": 1792394442439154394, + "as5600_init_start_time_ns": 1792394442440801076, + "as5600_init_end_time_ns": 1792394442444480735, + "as5600_zero_start_time_ns": 1792394442445907306, + "as5600_zero_end_time_ns": 1792394443250309836, + "camera_init_start_time_ns": 1792394443251930481, + "camera_init_end_time_ns": 1792394443254037607, + "camera_start_start_time_ns": 1792394443255092827, + "camera_start_end_time_ns": 1792394443256734564, + "camera_first_frame_wait_start_time_ns": 1792394443258870115, + "camera_first_frame_wait_end_time_ns": 1792394443262222998, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394443263807680, + "armed_time_ns": 1792394443453663816, + "waiting_t0_time_ns": 1792394443456607310, + "recording_start_time_ns": 1792394445876331999, + "stop_request_time_ns": 1792394460126667300, + "finalized_time_ns": 1792394460967360739 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394442386059908, + "ended_time_ns": 1792394442386458981, + "duration_s": 0.000399073, + "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": 1792394442386072482, + "ok": true, + "ended_time_ns": 1792394442386095408, + "duration_s": 2.2926e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394442386099426, + "ok": true, + "ended_time_ns": 1792394442386105204, + "duration_s": 5.778e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394442386105926, + "ok": true, + "ended_time_ns": 1792394442386113982, + "duration_s": 8.056e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394442386114834, + "ok": true, + "ended_time_ns": 1792394442386441611, + "duration_s": 0.000326777 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394442386444296, + "ok": true, + "ended_time_ns": 1792394442386450574, + "duration_s": 6.278e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394442386451444, + "ok": true, + "ended_time_ns": 1792394442386454852, + "duration_s": 3.408e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394442386455574, + "ok": true, + "ended_time_ns": 1792394442386458426, + "duration_s": 2.852e-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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391653739740754, + "ended_time_ns": 1792391653870062126 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.2886071219999735, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659027052788, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000683712 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002289089 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659027055475, + "ended_time_ns": 1792391659143241283 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000683712 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002289089 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000683712, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002289089 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659143245250, + "ended_time_ns": 1792391659145187360 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,145918243+08:00\n", + "stderr": "", + "started_time_ns": 1792391659145192197, + "ended_time_ns": 1792391659146161148 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000831775, + "last_offset_s": -0.000831775, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391659158693353, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:18 2026\nSystem time : 0.000574710 seconds slow of NTP time\nLast offset : -0.000831775 seconds\nRMS offset : 0.000831775 seconds\nFrequency : 2.011 ppm fast\nResidual freq : -472.995 ppm\nSkew : 13.043 ppm\nRoot delay : 0.073541246 seconds\nRoot dispersion : 0.002352914 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391659158694169, + "ended_time_ns": 1792391659234606291 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:18 2026", + "System time": "0.000574710 seconds slow of NTP time", + "Last offset": "-0.000831775 seconds", + "RMS offset": "0.000831775 seconds", + "Frequency": "2.011 ppm fast", + "Residual freq": "-472.995 ppm", + "Skew": "13.043 ppm", + "Root delay": "0.073541246 seconds", + "Root dispersion": "0.002352914 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00057471, + "Last offset seconds": -0.000831775, + "RMS offset seconds": 0.000831775, + "Root delay seconds": 0.073541246, + "Root dispersion seconds": 0.002352914 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms\n^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms\n^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms\n^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391659234609534, + "ended_time_ns": 1792391659236150794 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "119.28.183.184", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 119.28.183.184 2 6 7 1 +777us[ -54us] +/- 42ms" + }, + { + "state": "^-", + "name": "84.16.67.12", + "selected": false, + "reachable": true, + "stratum": "1", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 84.16.67.12 1 6 7 1 -2388us[-3219us] +/- 97ms" + }, + { + "state": "^-", + "name": "108.59.2.24", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 108.59.2.24 2 6 7 1 +12ms[ +11ms] +/- 116ms" + }, + { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +128us[ -704us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:19,236688758+08:00\n", + "stderr": "", + "started_time_ns": 1792391659236153759, + "ended_time_ns": 1792391659236794568 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391659248944845, + "ended_time_ns": 1792391659270546330 + }, + "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": 70, + "ready_token": "0f9ba237e7ae4e55b1af7bc7d6dc98d8", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "arm_request_id": "a00dfa3067e943c79f4ed65195528725", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138078172064039, + "worker_session_count": 1275, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_152042_00232", + "generation": 70, + "session_count": 70, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 70, + "last_bootstrap_time_ns": 1792394460969457901, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394460951769363, + "capture_count": 709, + "capture_error_count": 0, + "writer_count": 604, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 168.4936523415558, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 317, + "read_count": 4101, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394460964248375, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394460973887688 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1910, + "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": 1792391372269709143, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 12, + "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": 1792394460986425663, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26983, + "displayed_count": 24286, + "dropped_count": 2695, + "decode_error_count": 0, + "last_receive_time_ns": 1792394460980205083, + "last_frame_time_ns": 1792394460820490682, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1097, + "worker_state": "idle", + "session_id": "session_20261019_152042_00232", + "generation": 70, + "session_count": 70, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138078617710313, + "session_count": 70, + "last_bootstrap_time_ns": 1792394460969457901, + "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": 1792391342354568971, + "stream_last_frame_time_ns": 1792394460951769363, + "capture_count": 709, + "capture_error_count": 0, + "writer_count": 604, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 168.4936523415558, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 317, + "read_count": 4101, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394460964248375, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394460973887688 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1097, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-817EC589" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.33:8765/status", + "http_status": 200 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792394461004407817, + "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": 1792394461004407336 + } + }, + "updated_time_ns": 1792394461004409262 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_metadata.json b/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5c1b6d8fb2cc98a76e0f1aecbeeeac3376bc8530 --- /dev/null +++ b/1016-umi/session_20261019_152042_00232/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792394442425389466, + "platform": { + "system": "Linux", + "release": "6.8.0-138-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand", + "merged_trajectory_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/left_hand/Merged_Trajectory", + "metadata_dir": 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"clamp_actual_hz": 59.987725606216436, + "clamp_value_min": 97.6967362582168, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 320, + "read_count": 4100, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 3174 + }, + "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/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_joint_metadata.json b/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..91827882fac2c1a1ecb2b3b11c24d184f74e52f4 --- /dev/null +++ b/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3885 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792394442305333428, + "task_name": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261019_152042_00232", + "paths": { + "pc_session_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232", + "pc_hand_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "vive_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232", + "vive_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi", + "pc_metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "pc_pi_data_root": "/home/teleai/Tele-UMI/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232", + "pc_expected_pi_run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "192.168.157.6", + "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": 180.0, + "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_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/teleai/Tele-UMI/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": "192.168.157.6", + "pi_port": 8765, + "pi_base_url": "http://192.168.157.6:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.157.12", + "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": "1016-umi", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_152020_00231", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152020_00231", + "--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_20261019_152020_00231.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_152020_00231", + "--control-generation", + "69", + "--ready-token", + "580cfa8f45424f1fa2ef7826c3123482", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394442305968787, + "ended_time_ns": 1792394442349976005, + "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_20261019_152020_00231.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.diagnostics.json", + "capture_start_time_ns": 1792394424170692166, + "capture_stop_time_ns": 1792394438973710096, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152020_00231", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152020_00231/right_hand", + "timing": { + "server_start_request_time_ns": 1792394420699763312, + "subprocess_popen_time_ns": 1792394420705257269, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394420757041462, + "validate_start_time_ns": 1792394421771176323, + "session_dir_create_start_time_ns": 1792394420758107161, + "session_dir_create_end_time_ns": 1792394420760055671, + "as5600_init_start_time_ns": 1792394420761986347, + "as5600_init_end_time_ns": 1792394420763791265, + "as5600_zero_start_time_ns": 1792394420766048144, + "as5600_zero_end_time_ns": 1792394421571149742, + "camera_init_start_time_ns": 1792394421573019659, + "camera_init_end_time_ns": 1792394421575284668, + "camera_start_start_time_ns": 1792394421576466144, + "camera_start_end_time_ns": 1792394421578205617, + "camera_first_frame_wait_start_time_ns": 1792394421579961480, + "camera_first_frame_wait_end_time_ns": 1792394421581857582, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394421586326507, + "armed_time_ns": 1792394421735806982, + "waiting_t0_time_ns": 1792394421773957273, + "recording_start_time_ns": 1792394424172857401, + "stop_request_time_ns": 1792394438152091658, + "finalized_time_ns": 1792394438981884960 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792394442138042882, + "ended_time_ns": 1792394442140004966, + "duration_s": 0.001962084, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394442138204585, + "ended_time_ns": 1792394442138570787, + "duration_s": 0.000366202, + "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": 1792394442138210196, + "ok": true, + "ended_time_ns": 1792394442138223919, + "duration_s": 1.3723e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394442138225622, + "ok": true, + "ended_time_ns": 1792394442138229826, + "duration_s": 4.204e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394442138230530, + "ok": true, + "ended_time_ns": 1792394442138234807, + "duration_s": 4.277e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394442138235326, + "ok": true, + "ended_time_ns": 1792394442138540491, + "duration_s": 0.000305165 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394442138543658, + "ok": true, + "ended_time_ns": 1792394442138554880, + "duration_s": 1.1222e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394442138556158, + "ok": true, + "ended_time_ns": 1792394442138563250, + "duration_s": 7.092e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394442138564102, + "ok": true, + "ended_time_ns": 1792394442138569769, + "duration_s": 5.667e-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": 1792394442139741356, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792394442023282584, + "frame_age_s": 0.116508031, + "heartbeat_age_s": 0.098489927, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394442139797523, + "duration_s": 5.6167e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792394442139800597, + "status_ok": true, + "gap_mm": 81.261195137303, + "reference_angle_deg": 245.9985351584442, + "sample_observed_time_ns": 1792394442032577598, + "sample_age_s": 0.107234573, + "heartbeat_age_s": 0.098532612, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792394442139817208, + "duration_s": 1.6611e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792394442139818893, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792394442139822171, + "duration_s": 3.278e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792394442139823893, + "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": 1792394442140002874, + "duration_s": 0.000178981 + } + }, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 69, + "ready_token": "580cfa8f45424f1fa2ef7826c3123482", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152020_00231.ready.json", + "arm_request_id": "b175567c58084bbe9582592e7a10c735", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2101, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438986165311, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394442023282584, + "capture_count": 814, + "capture_error_count": 0, + "writer_count": 587, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 245.9985351584442, + "gripper_gap_mm": 81.261195137303, + "status_ok": true, + "queue_size": 600, + "queue_depth": 184, + "max_queue_depth": 320, + "read_count": 2965, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442032577598, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442041272207 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394442088830011, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26788, + "displayed_count": 17274, + "dropped_count": 9512, + "decode_error_count": 0, + "last_receive_time_ns": 1792394442085570730, + "last_frame_time_ns": 1792394441948350384, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438986165311, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394442023282584, + "capture_count": 814, + "capture_error_count": 0, + "writer_count": 587, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 245.9985351584442, + "gripper_gap_mm": 81.261195137303, + "status_ok": true, + "queue_size": 600, + "queue_depth": 184, + "max_queue_depth": 320, + "read_count": 2965, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442032577598, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442041272207 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792377434259173926, + "ended_time_ns": 1792377434376363878 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.827162429999987, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439109566901, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000469241 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025860880 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439109568476, + "ended_time_ns": 1792377439189757677 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000469241 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025860880 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000469241, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.02586088 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439189762810, + "ended_time_ns": 1792377439191202128 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,191780816+08:00\n", + "stderr": "", + "started_time_ns": 1792377439191205204, + "ended_time_ns": 1792377439192951460 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792377439289985473, + "ended_time_ns": 1792377439316040384 + }, + "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://192.168.157.6:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792378657468876965, + "ended_time_ns": 1792378657493172865 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000650838, + "last_offset_s": -0.000650838, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792377439203550391, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 02:37:17 2026\nSystem time : 0.000408020 seconds slow of NTP time\nLast offset : -0.000650838 seconds\nRMS offset : 0.000650838 seconds\nFrequency : 5.220 ppm fast\nResidual freq : -65.530 ppm\nSkew : 21.207 ppm\nRoot delay : 0.034122143 seconds\nRoot dispersion : 0.025869133 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792377439203551262, + "ended_time_ns": 1792377439276944949 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 02:37:17 2026", + "System time": "0.000408020 seconds slow of NTP time", + "Last offset": "-0.000650838 seconds", + "RMS offset": "0.000650838 seconds", + "Frequency": "5.220 ppm fast", + "Residual freq": "-65.530 ppm", + "Skew": "21.207 ppm", + "Root delay": "0.034122143 seconds", + "Root dispersion": "0.025869133 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00040802, + "Last offset seconds": -0.000650838, + "RMS offset seconds": 0.000650838, + "Root delay seconds": 0.034122143, + "Root dispersion seconds": 0.025869133 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms\n", + "stderr": "", + "started_time_ns": 1792377439276948562, + "ended_time_ns": 1792377439278414841 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 +58us[ -592us] +/- 43ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T10:37:19,279138141+08:00\n", + "stderr": "", + "started_time_ns": 1792377439278418307, + "ended_time_ns": 1792377439279286997 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394442352739577, + "ended_time_ns": 1792394442370487171, + "duration_s": 0.000297258, + "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": 1792394442386031229, + "ok": true, + "ended_time_ns": 1792394442386041636, + "duration_s": 1.0407e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394442386043748, + "ok": true, + "ended_time_ns": 1792394442386047729, + "duration_s": 3.981e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394442386048507, + "ok": true, + "ended_time_ns": 1792394442386052303, + "duration_s": 3.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394442386052896, + "ok": true, + "ended_time_ns": 1792394442386309080, + "duration_s": 0.000256184 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394442386310524, + "ok": true, + "ended_time_ns": 1792394442386315228, + "duration_s": 4.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394442386316006, + "ok": true, + "ended_time_ns": 1792394442386319191, + "duration_s": 3.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394442386319709, + "ok": true, + "ended_time_ns": 1792394442386322302, + "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://192.168.157.6:8765/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_20261019_152042_00232", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "--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_20261019_152042_00232.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_152042_00232", + "--control-generation", + "70", + "--ready-token", + "ea2cd6a85b124649ba684176389d4871", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394442415935002, + "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_20261019_152042_00232.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "timing": { + "server_start_request_time_ns": 1792394442410192472, + "subprocess_popen_time_ns": 1792394442415935002, + "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": 1792394442386025785, + "ended_time_ns": 1792394442386323043, + "duration_s": 0.000297258, + "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": 1792394442386031229, + "ok": true, + "ended_time_ns": 1792394442386041636, + "duration_s": 1.0407e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394442386043748, + "ok": true, + "ended_time_ns": 1792394442386047729, + "duration_s": 3.981e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394442386048507, + "ok": true, + "ended_time_ns": 1792394442386052303, + "duration_s": 3.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394442386052896, + "ok": true, + "ended_time_ns": 1792394442386309080, + "duration_s": 0.000256184 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394442386310524, + "ok": true, + "ended_time_ns": 1792394442386315228, + "duration_s": 4.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394442386316006, + "ok": true, + "ended_time_ns": 1792394442386319191, + "duration_s": 3.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394442386319709, + "ok": true, + "ended_time_ns": 1792394442386322302, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 70, + "ready_token": "ea2cd6a85b124649ba684176389d4871", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2102, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438986165311, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394442023282584, + "capture_count": 814, + "capture_error_count": 0, + "writer_count": 587, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 245.9985351584442, + "gripper_gap_mm": 81.261195137303, + "status_ok": true, + "queue_size": 600, + "queue_depth": 184, + "max_queue_depth": 320, + "read_count": 2965, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442032577598, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442041272207 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394442088830011, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26788, + "displayed_count": 17274, + "dropped_count": 9512, + "decode_error_count": 0, + "last_receive_time_ns": 1792394442085570730, + "last_frame_time_ns": 1792394441948350384, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_152020_00231", + "generation": 69, + "session_count": 69, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438986165311, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394442023282584, + "capture_count": 814, + "capture_error_count": 0, + "writer_count": 587, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 245.9985351584442, + "gripper_gap_mm": 81.261195137303, + "status_ok": true, + "queue_size": 600, + "queue_depth": 184, + "max_queue_depth": 320, + "read_count": 2965, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442032577598, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442041272207 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.157.6:8765/start", + "http_status": 200, + "started_time_ns": 1792394442372868721, + "ended_time_ns": 1792394442411620582 + }, + "pi_start_request_time_ns": 1792394442411628716, + "capture_start_time_ns": 1792394445875158196, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792394460062555715, + "capture_stop_time_ns": 1792394460957431175, + "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_20261019_152042_00232", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "--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_20261019_152042_00232.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_152042_00232", + "--control-generation", + "70", + "--ready-token", + "ea2cd6a85b124649ba684176389d4871", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394442415935002, + "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_20261019_152042_00232.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "capture_start_time_ns": 1792394445875158196, + "capture_stop_time_ns": 1792394460957431175, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "timing": { + "server_start_request_time_ns": 1792394442410192472, + "subprocess_popen_time_ns": 1792394442415935002, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394442456396579, + "validate_start_time_ns": 1792394443459840155, + "session_dir_create_start_time_ns": 1792394442457525037, + "session_dir_create_end_time_ns": 1792394442458705698, + "as5600_init_start_time_ns": 1792394442460010322, + "as5600_init_end_time_ns": 1792394442461036225, + "as5600_zero_start_time_ns": 1792394442462564088, + "as5600_zero_end_time_ns": 1792394443269023421, + "camera_init_start_time_ns": 1792394443271206041, + "camera_init_end_time_ns": 1792394443274824858, + "camera_start_start_time_ns": 1792394443277564457, + "camera_start_end_time_ns": 1792394443281210885, + "camera_first_frame_wait_start_time_ns": 1792394443285136015, + "camera_first_frame_wait_end_time_ns": 1792394443287567949, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394443289325718, + "armed_time_ns": 1792394443458842381, + "waiting_t0_time_ns": 1792394443461687702, + "recording_start_time_ns": 1792394445878147250, + "stop_request_time_ns": 1792394460099652917, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394442386025785, + "ended_time_ns": 1792394442386323043, + "duration_s": 0.000297258, + "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": 1792394442386031229, + "ok": true, + "ended_time_ns": 1792394442386041636, + "duration_s": 1.0407e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394442386043748, + "ok": true, + "ended_time_ns": 1792394442386047729, + "duration_s": 3.981e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394442386048507, + "ok": true, + "ended_time_ns": 1792394442386052303, + "duration_s": 3.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394442386052896, + "ok": true, + "ended_time_ns": 1792394442386309080, + "duration_s": 0.000256184 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394442386310524, + "ok": true, + "ended_time_ns": 1792394442386315228, + "duration_s": 4.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394442386316006, + "ok": true, + "ended_time_ns": 1792394442386319191, + "duration_s": 3.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394442386319709, + "ok": true, + "ended_time_ns": 1792394442386322302, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 70, + "ready_token": "ea2cd6a85b124649ba684176389d4871", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "arm_request_id": "a00dfa3067e943c79f4ed65195528725", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2102, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "running", + "session_id": "session_20261019_152042_00232", + "generation": 70, + "session_count": 70, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 69, + "last_bootstrap_time_ns": 1792394438986165311, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394442423280413, + "capture_count": 830, + "capture_error_count": 0, + "writer_count": 587, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 245.9985351584442, + "gripper_gap_mm": 81.261195137303, + "status_ok": true, + "queue_size": 600, + "queue_depth": 208, + "max_queue_depth": 320, + "read_count": 2989, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394442432577908, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394442450213088 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.157.6:8765/stop", + "http_status": 200, + "started_time_ns": 1792394460062849608, + "ended_time_ns": 1792394460104279376 + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261019_152042_00232", + "pid": 1074, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "--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_20261019_152042_00232.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261019_152042_00232", + "--control-generation", + "70", + "--ready-token", + "ea2cd6a85b124649ba684176389d4871", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792394461146056226, + "ended_time_ns": 1792394461170093506, + "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_20261019_152042_00232.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.diagnostics.json", + "capture_start_time_ns": 1792394445875158196, + "capture_stop_time_ns": 1792394460957431175, + "data_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_152042_00232/right_hand", + "timing": { + "server_start_request_time_ns": 1792394442410192472, + "subprocess_popen_time_ns": 1792394442415935002, + "process_entry_time_ns": 1781523807784188470, + "module_import_start_time_ns": 1781523807824766073, + "import_log_utils_start_time_ns": 1781523807824767832, + "import_log_utils_end_time_ns": 1781523807826870932, + "import_as5600_start_time_ns": 1781523807826871858, + "import_as5600_end_time_ns": 1781523807885099036, + "import_pi_session_start_time_ns": 1781523807885100591, + "import_pi_session_end_time_ns": 1781523807968770451, + "import_usb_camera_start_time_ns": 1781523807968771581, + "import_usb_camera_end_time_ns": 1781523808028379177, + "configure_stdio_start_time_ns": 1781523808074280474, + "configure_stdio_end_time_ns": 1781523808074575010, + "capture_entry_time_ns": 1792394442456396579, + "validate_start_time_ns": 1792394443459840155, + "session_dir_create_start_time_ns": 1792394442457525037, + "session_dir_create_end_time_ns": 1792394442458705698, + "as5600_init_start_time_ns": 1792394442460010322, + "as5600_init_end_time_ns": 1792394442461036225, + "as5600_zero_start_time_ns": 1792394442462564088, + "as5600_zero_end_time_ns": 1792394443269023421, + "camera_init_start_time_ns": 1792394443271206041, + "camera_init_end_time_ns": 1792394443274824858, + "camera_start_start_time_ns": 1792394443277564457, + "camera_start_end_time_ns": 1792394443281210885, + "camera_first_frame_wait_start_time_ns": 1792394443285136015, + "camera_first_frame_wait_end_time_ns": 1792394443287567949, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792394443289325718, + "armed_time_ns": 1792394443458842381, + "waiting_t0_time_ns": 1792394443461687702, + "recording_start_time_ns": 1792394445878147250, + "stop_request_time_ns": 1792394460103154883, + "finalized_time_ns": 1792394460964519709 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792394442386025785, + "ended_time_ns": 1792394442386323043, + "duration_s": 0.000297258, + "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": 1792394442386031229, + "ok": true, + "ended_time_ns": 1792394442386041636, + "duration_s": 1.0407e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792394442386043748, + "ok": true, + "ended_time_ns": 1792394442386047729, + "duration_s": 3.981e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792394442386048507, + "ok": true, + "ended_time_ns": 1792394442386052303, + "duration_s": 3.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792394442386052896, + "ok": true, + "ended_time_ns": 1792394442386309080, + "duration_s": 0.000256184 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792394442386310524, + "ok": true, + "ended_time_ns": 1792394442386315228, + "duration_s": 4.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792394442386316006, + "ok": true, + "ended_time_ns": 1792394442386319191, + "duration_s": 3.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792394442386319709, + "ok": true, + "ended_time_ns": 1792394442386322302, + "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": "192.168.157.12", + "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", + "192.168.157.12" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792391661264893123, + "ended_time_ns": 1792391661394758459 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.797050524000042, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666099269443, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000654250 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002462656 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666099273735, + "ended_time_ns": 1792391666176965610 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000654250 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002462656 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.00065425, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002462656 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666176968978, + "ended_time_ns": 1792391666178432140 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,179027940+08:00\n", + "stderr": "", + "started_time_ns": 1792391666178435267, + "ended_time_ns": 1792391666179157106 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.157.12", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000858511, + "last_offset_s": 0.000858511, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792391666191832935, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A89D0C (192.168.157.12)\nStratum : 4\nRef time (UTC) : Mon Oct 19 06:34:25 2026\nSystem time : 0.000575314 seconds fast of NTP time\nLast offset : +0.000858511 seconds\nRMS offset : 0.000858511 seconds\nFrequency : 4.501 ppm fast\nResidual freq : +523.840 ppm\nSkew : 8.117 ppm\nRoot delay : 0.074673787 seconds\nRoot dispersion : 0.002511659 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792391666191833786, + "ended_time_ns": 1792391666270469735 + }, + "tracking_parsed": { + "Reference ID": "C0A89D0C (192.168.157.12)", + "Stratum": "4", + "Ref time (UTC)": "Mon Oct 19 06:34:25 2026", + "System time": "0.000575314 seconds fast of NTP time", + "Last offset": "+0.000858511 seconds", + "RMS offset": "0.000858511 seconds", + "Frequency": "4.501 ppm fast", + "Residual freq": "+523.840 ppm", + "Skew": "8.117 ppm", + "Root delay": "0.074673787 seconds", + "Root dispersion": "0.002511659 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000575314, + "Last offset seconds": 0.000858511, + "RMS offset seconds": 0.000858511, + "Root delay seconds": 0.074673787, + "Root dispersion seconds": 0.002511659 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\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^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms\n", + "stderr": "", + "started_time_ns": 1792391666270473454, + "ended_time_ns": 1792391666271894744 + }, + "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": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.157.12", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.157.12 3 4 7 1 -40us[ +818us] +/- 39ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-19T14:34:26,272503496+08:00\n", + "stderr": "", + "started_time_ns": 1792391666271898112, + "ended_time_ns": 1792391666272634013 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.157.12", + "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 192.168.157.12 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": 1792391666281634498, + "ended_time_ns": 1792391666306251936 + }, + "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": 70, + "ready_token": "ea2cd6a85b124649ba684176389d4871", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_152042_00232.ready.json", + "arm_request_id": "a00dfa3067e943c79f4ed65195528725", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807735510632, + "worker_session_count": 2102, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_152042_00232", + "generation": 70, + "session_count": 70, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 70, + "last_bootstrap_time_ns": 1792394460968156934, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394460964370729, + "capture_count": 709, + "capture_error_count": 0, + "writer_count": 603, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.98437499999994, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 320, + "read_count": 4101, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394460966090943, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394460972517340 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1685, + "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": 1792391360195478262, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "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": 1792394460378669754, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 26949, + "displayed_count": 17347, + "dropped_count": 9600, + "decode_error_count": 0, + "last_receive_time_ns": 1792394460366631512, + "last_frame_time_ns": 1792394460131560552, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1074, + "worker_state": "idle", + "session_id": "session_20261019_152042_00232", + "generation": 70, + "session_count": 70, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523808076386759, + "session_count": 70, + "last_bootstrap_time_ns": 1792394460968156934, + "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": 1792391345368045031, + "stream_last_frame_time_ns": 1792394460964370729, + "capture_count": 709, + "capture_error_count": 0, + "writer_count": 603, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "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": 243.98437499999994, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 320, + "read_count": 4101, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792394460966090943, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792394460972517340 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1074, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-4F99A346" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.157.6:8765/status", + "http_status": 200 + }, + "final_ok": true + }, + "updated_time_ns": 1792394461172067278 +} \ No newline at end of file diff --git a/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_metadata.json b/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4116bff731ad4298a7818746ae4f0807ea9b685a --- 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"/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_152042_00232/right_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "right_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-4F99A346", + "tracker_serials": [ + "LHR-817EC589", + "LHR-4F99A346" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": 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