devuser@ea7-control:/aru$ aru status
Discovered 12 slaves
=======================================
STATUS OVERVIEW
=======================================
General info:
-----------------------------------------------------------
| Location | Index | Class | Contract | Temp (ºC) |
-----------------------------------------------------------
| c1_arm | 10 | arm | 3 | 36.48 |
| c1_forearm | 12 | arm | 3 | 37.51 |
| c1_shoulder | 11 | shoulder | 3 | 40.09 |
| c2_arm | 8 | arm | 3 | 38.38 |
| c2_forearm | 1 | arm | 3 | 41.16 |
| c2_shoulder | 9 | shoulder | 3 | 41.4 |
| c3_arm | 6 | arm | 3 | 39.09 |
| c3_forearm | 2 | arm | 3 | 37.69 |
| c3_shoulder | 7 | shoulder | 3 | 42.17 |
| c4_arm | 4 | arm | 3 | 34.85 |
| c4_forearm | 3 | arm | 3 | 34.38 |
| c4_shoulder | 5 | shoulder | 3 | 39.77 |
Battery Status:
---------------------------------------------------------------------------------
| Name | Voltage (V) | Current (A) | SOC (%) | Charging | Has charger |
---------------------------------------------------------------------------------
| c3_forearm | 39.6 | -1.312 | 79 | NOT CHARGING | |
| c2_arm | 39.6 | -0.913 | 75 | NOT CHARGING | |
| c1_arm | 39.7 | -0.704 | 76 | NOT CHARGING | |
| c1_forearm | 39.7 | -0.756 | 79 | NOT CHARGING | |
Modules:
----------------------------------------------------------------------
| Location | Top | Internal |
----------------------------------------------------------------------
| c1_arm | TO-2 (v1.6.0) (79446fcf) | NO |
| c1_forearm | TO-2 (v1.6.0) (79446fcf) | NO |
| c2_arm | CH-2 (v1.6.0) (79446fcf) | NO |
| c2_forearm | EM-2 (v1.6.0) (79446fcf) | MP-0 (v0.0.0) |
| c3_arm | TO-2 (v1.6.0) (79446fcf) | NO |
| c3_forearm | TO-2 (v1.6.0) (79446fcf) | PO-0 (v1.6.0) (79446fcf) |
| c4_arm | TO-2 (v1.6.0) (79446fcf) | NO |
| c4_forearm | TO-2 (v1.6.0) (79446fcf) | NO |
Cameras:
---------------------------------
| Location | Serial number |
---------------------------------
| c2_forearm | 0 |
| c3_forearm | 0 |
| c4_forearm | 0 |
| c1_forearm | 0 |
Loop connectors:
-------------------------------------------------
| Location | Status | position |
-------------------------------------------------
| c1_shoulder | ALMOST_CLOSED | 0 |
Data 2:
C C C C C C C C
C1A C1F C2A C2F C3A C3F C4A C4F
| | | | | | | |
=== Gigabit backbone health ===
a1 G fa1 M a2 G fa2 G a3 G fa3 G a4 G fa4
devuser@ea7-control:/aru$ aru ready
[ok] status 12 slaves discovered · battery SoC min 75% / max 79% (4 batteries)
[note] eth G1 control ↔ vision (fa2 ↔ a3) · 1 hop(s) degraded off-path
[ok] versions all firmware hashes match expected
[ok] config no differences 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@ea7-control:/aru$ aru versions all
=== Container image ===
image: nimblehub.io/nimble-one/aru/aru-pre-release-amd64:main-2b7d8c598f
type: pre-release
modules_fw: 79446fcf28cbe47807d1ca11b21d4b08c3829473
actuator_fw: 10e63fc5f138b2115cc8be3bf82ff73265788b24
elec_stack_fw: 60c2349ab9541b34c45dbe08dce7a7817bed82fe
=== Firmware versions ===
discovered 12 devices
Using current model = models/aru_vea/instances/unit7
Created Elec Stack with index 1
Created Elec Stack with index 2
Created Elec Stack with index 3
Created Elec Stack with index 4
Created Elec Stack with index 5
Created Elec Stack with index 6
Created Elec Stack with index 7
Created Elec Stack with index 8
Created Elec Stack with index 9
Created Elec Stack with index 10
Created Elec Stack with index 11
Created Elec Stack with index 12
Expected commit hash on elec stack firmware = 0x60C2349A
Found elec stack 01 with hash 0x60C2349A
Found elec stack 02 with hash 0x60C2349A
Found elec stack 03 with hash 0x60C2349A
Found elec stack 04 with hash 0x60C2349A
Found elec stack 05 with hash 0x60C2349A
Found elec stack 06 with hash 0x60C2349A
Found elec stack 07 with hash 0x60C2349A
Found elec stack 08 with hash 0x60C2349A
Found elec stack 09 with hash 0x60C2349A
Found elec stack 10 with hash 0x60C2349A
Found elec stack 11 with hash 0x60C2349A
Found elec stack 12 with hash 0x60C2349A
Expected commit hash on actuator firmware = 0x10E63FC5
At elec_stack 01: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 02: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 03: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 04: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 05: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 05: found actuator at joint WS with hash 0x10E63FC5
At elec_stack 05: found actuator at joint WH with hash 0x10E63FC5
At elec_stack 06: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 07: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 07: found actuator at joint WS with hash 0x10E63FC5
At elec_stack 07: found actuator at joint WH with hash 0x10E63FC5
At elec_stack 08: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 09: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 09: found actuator at joint WS with hash 0x10E63FC5
At elec_stack 09: found actuator at joint WH with hash 0x10E63FC5
At elec_stack 10: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 11: found actuator at joint AJ with hash 0x10E63FC5
At elec_stack 11: found actuator at joint WS with hash 0x10E63FC5
At elec_stack 11: found actuator at joint WH with hash 0x10E63FC5
At elec_stack 12: found actuator at joint AJ with hash 0x10E63FC5
Expected commit hash on modules firmware = 0x79446FCF
At elec_stack 01: found module EM with hash 0x79446FCF
At elec_stack 01: found module MP with hash 0x00000000
At elec_stack 02: found module TO with hash 0x79446FCF
At elec_stack 02: found module PO with hash 0x79446FCF
At elec_stack 03: found module TO with hash 0x79446FCF
At elec_stack 03: found module NO with hash 0x00000000
At elec_stack 04: found module TO with hash 0x79446FCF
At elec_stack 04: found module NO with hash 0x00000000
At elec_stack 06: found module TO with hash 0x79446FCF
At elec_stack 06: found module NO with hash 0x00000000
At elec_stack 08: found module CH with hash 0x79446FCF
At elec_stack 08: found module NO with hash 0x00000000
At elec_stack 10: found module TO with hash 0x79446FCF
At elec_stack 10: found module NO with hash 0x00000000
At elec_stack 12: found module TO with hash 0x79446FCF
At elec_stack 12: found module NO with hash 0x00000000
devuser@ea7-control:/aru$ aru pingall
Optional arg firmware not found!
Discovered 12 slaves
Slave #01, [GIM_8115_36] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #02, [JA110 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #03, [GIM_8115_36] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #04, [GIM_8115_36] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #05, [GIM_8115_9 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
, [GIM_6010_6 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
, [GIM_6010_6 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #06, [JA110 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #07, [GIM_8115_9 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
, [GIM_6010_6 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
, [GIM_6010_6 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #08, [GIM_8115_36] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #09, [GIM_8115_9 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
, [GIM_6010_6 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
, [GIM_6010_6 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #10, [GIM_8115_36] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #11, [GIM_8115_9 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
, [GIM_6010_6 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
, [GIM_6010_6 ] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
Slave #12, [GIM_8115_36] fw hash = 0x10e63fc5 (v1.11.0.0) (update), PCB rev 12
[WS]
[PC] [WH]
TS4--------FA3--------A3---------TS3
| [M] [M] [M] [M] |
| |
| |
| |
A4 [M] [M]FA2
| |
| |
| |
| |
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.