devuser@ea3-control:/aru$ aru eth --verbose
a1 G fa1 G a2 G fa2 G a3 G fa3 G a4 G fa4

stack  ES  top  mod  bb1  bb2
-----  --  ---  ---  ---  ---
a1     10  DN   DN   DN   G1
fa1    12  DN   DN   G1   G1
a2     8   DN   DN   G1   G1
fa2    1   DN   G1   G1   G1
a3     6   DN   DN   G1   G1
fa3    2   DN   G1   G1   G1
a4     4   DN   DN   G1   G1
fa4    3   DN   DN   DN   G1
devuser@ea3-control:/aru$ aru ready
[ok]   status   12 slaves discovered · battery SoC min 26% / max 66% (4 batteries)
[ok]   eth      G1 control ↔ vision (fa2 ↔ fa3)
[ok]   versions all firmware hashes match expected
[note] config   1 difference(s) vs saved snapshot
[ok]   pingall  all actuators reachable, no factory/dirty flags
[ok]   wrist    not detected
[ok]   vision   10.42.0.109:22 reachable
[ok]   ptp      portState=MASTER

>>> READY (1 note(s))
devuser@ea3-control:/aru$ aru pingall
Optional arg firmware not found!
Discovered 12 slaves
Slave #01, [GIM_8115_36] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10
Slave #02, [JA110      ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 255
Slave #03, [GIM_8115_36] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10
Slave #04, [GIM_8115_36] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10
Slave #05, [GIM_8115_9 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 255
         , [GIM_6010_6 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10
         , [GIM_6010_6 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10
Slave #06, [JA110      ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 12
Slave #07, [GIM_8115_9 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 255
         , [GIM_6010_6 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 11
         , [GIM_6010_6 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10
Slave #08, [GIM_8115_36] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10
Slave #09, [GIM_8115_9 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 255
         , [GIM_6010_6 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 12
         , [GIM_6010_6 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 12
Slave #10, [GIM_8115_36] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10
Slave #11, [GIM_8115_9 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 255
         , [GIM_6010_6 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10
         , [GIM_6010_6 ] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10
Slave #12, [GIM_8115_36] fw hash = 0x1441d03e (v1.10.2.0)  (update), PCB rev 10

       [WS]                       [WS]
       [WH]                       [WH]
    TS4--------FA3--------A3---------TS3
     | [M]     [M]        [M]     [M] |
     |                                |
     |                                |
     |                                |
    A4 [M]                        [M]FA2[PC]
     |                                |
     |                                |
     |                                |
     |                                |
    FA4[M]                        [M]A2
                                      |
                                      |
                                      |
      [M]      [M]        [M]     [M] |
    TS1--------A1---------FA1--------TS2
      [WH]                        [WH]
      [WS]                        [WS]

[WRIST] 10.42.0.62
  no wrist detected (10.42.0.62:23 not reachable)
devuser@ea3-control:/aru$