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Auto-Provisioning (Detection)

Part of the OpenRAL public-symbol inventory. Hand-curated; (LNN) markers are refreshed by tools/refresh_methods_linenos.py.

python/detect/src/openral_detect/__init__.py

  • detect_hardware(*, dds_timeout_s=5.0, include=None, exclude=None) -> DetectionReport — Umbrella probe entry. (in detect.py:L33)
  • assemble_robot_description(detection, *, base_description=None) -> RobotDescription — Identify-then-enrich. (in assemble.py:L72)
  • check_installed_rskills(robot, *, registry_path=None, rskills_dir=None) -> CompatibilityReport — Walk-all: run rSkill.check_compatibility against every installed (and optionally in-tree) skill. (in compatibility.py:L107)
  • check_single_rskill(rskill_id, robot) -> CompatibilityReport — Resolve one id via load_rskill_manifest and emit a one-row report with per-section verdicts. (in compatibility.py:L294)
  • const PROBE_NAMES: frozenset[str] — Names accepted by detect_hardware(include=...).

python/detect/src/openral_detect/compatibility.py

  • class SectionVerdict(BaseModel) — Per-section verdict for openral rskill check <rskill_id> (label, compatible, reason, failure_kind, informational). (L56)
  • class RSkillCompatRow(BaseModel) — One row in the compatibility report. (L81) fields: repo_id, version, role, manifest_path, embodiment_tags, compatible, reason, failure_kind, sections
  • class CompatibilityReport(BaseModel) — openral rskill check output. (L97) fields: schema_version, generated_at, robot_name, robot_embodiment_tags, rows
  • compatible -> list[RSkillCompatRow] (property)
  • incompatible -> list[RSkillCompatRow] (property)
  • _evaluate_sections(manifest, robot) -> list[SectionVerdict] — Run each per-section production check and collect the six verdicts. (L283)

python/detect/src/openral_detect/probes/

  • probe_usb(*, warnings=None) -> UsbProbeResult — Wraps openral_cli.autodetect.enumerate_usb_devices + match_known_devices.
  • probe_dds(*, timeout_s=5.0, warnings=None) -> Ros2TopologyResult — Wraps scan_dds_topics + infer_robot_from_topics and captures RMW / domain id.
  • probe_gpus(*, warnings=None) -> GpuProbeResult — NVIDIA pynvml → nvidia-smi fallback, Jetson via jtop / proc, Apple Silicon via system_profiler. Includes static NVIDIA_TOPS_BY_NAME_KEYWORD, JETSON_BOARD_TOPS, DTYPES_BY_COMPUTE_CAPABILITY, _JETSON_CC_BY_BOARD_KEYWORD tables (ADR-0016).
  • _cc_for_jetson_board(board: str) -> tuple[int, int] | None — Map device-tree board string to CUDA compute capability via _JETSON_CC_BY_BOARD_KEYWORD; replaces the legacy "Orin" in board heuristic. ADR-0016 PR 2/3. (gpu.py L193)
  • _probe_jetson(warnings, *, model_path=None, release_path=None) -> JetsonInfo | None — Probe a Tegra host. model_path / release_path accept fixtures for unit tests; production reads /proc/device-tree/model + /etc/nv_tegra_release. Returns None + warning when the board is unknown. (gpu.py L210)
  • _probe_nvmm_available(*, search_paths=None) -> bool — True when libnvbufsurface.so is installed (L4T multimedia stack). Populates RobotCapabilities.nvmm_available. search_paths overrides the canonical roots (_NVBUFSURFACE_SEARCH_PATHS) for tests. ADR-0016 PR 2/3. (gpu.py L219)
  • probe_v4l2_cameras(*, warnings=None) -> list[V4l2CameraInfo] — Linux V4L2 enumeration via v4l2-ctl --list-devices.
  • probe_realsense_devices(*, warnings=None) -> list[RealsenseDeviceInfo] — pyrealsense2.context() wrapper; produces canonical model_id ready for catalog reverse-lookup.
  • probe_network(*, warnings=None) -> NetworkProbeResult — Hostname / per-interface MAC / IPv4 / MTU / link-speed / default route via psutil.

python/detect/src/openral_detect/registry.py

  • canonical_robot_path(bh_robot_type) -> Path | None — Resolve "so100" / "aloha" / … to robots/<name>/robot.yaml. (L56)
  • signature_for_realsense(model_id) -> SensorSignature (L86)
  • signature_for_v4l2(name) -> SensorSignature (L91)
  • signature_for_usb_uvc(vid, pid) -> SensorSignature (L96)

python/detect/src/openral_detect/report.py

  • class UsbDeviceRecord(BaseModel) — One USB serial device captured for the report. (L50) fields: port, vid, pid, description
  • class UsbMatchRecord(BaseModel) — Detected USB device matched against the VID/PID table. (L63) fields: device, chip, driver_hint, embodiment_tag, bh_robot_type
  • class UsbProbeResult(BaseModel) — USB enumeration output. (L73) fields: devices, matches
  • class NvidiaGpuInfo(BaseModel) — One discrete NVIDIA GPU with full attribute set. (L83) fields: index, name, vram_total_mib, vram_free_mib, pci_bus_id, driver_version, cuda_compute_capability, cuda_toolkit_version, tensorrt_version, supported_dtypes, tops_estimate
  • class JetsonInfo(BaseModel) — An NVIDIA Jetson SoC. (L104) fields: board, soc, jetpack_version, tops, ram_gb, cuda_compute_capability, cuda_toolkit_version, tensorrt_version, supported_dtypes, power_mode
  • class AppleSiliconInfo(BaseModel) — An Apple Silicon SoC. (L119) fields: chip, gpu_cores, unified_mem_gb, supported_dtypes
  • class GpuProbeResult(BaseModel) — GPU / SoC discovery output. (L139) fields: nvidia, jetson, apple_silicon, backend
  • class V4l2CameraInfo(BaseModel) — One V4L2 camera node. (L151) fields: device_path, name, bus_info, formats, max_resolution
  • class RealsenseDeviceInfo(BaseModel) — Intel RealSense device discovered via pyrealsense2. (L161) fields: serial, name, model_id, firmware_version, usb_type
  • class OrbbecDeviceInfo(BaseModel) — Orbbec depth camera. (L171) fields: serial, name, model_id, firmware_version
  • class CameraProbeResult(BaseModel) — Per-host camera discovery output. (L180) fields: v4l2, realsense, orbbec
  • class DdsTopicRecord(BaseModel) — One ROS 2 topic discovered during DDS scan. (L191) fields: name, type_name
  • class Ros2TopologyResult(BaseModel) — ROS 2 topology snapshot. (L198) fields: topics, inferred_robot_type, has_robot_description, has_tf, nodes, rmw_implementation, domain_id
  • class NetworkInterfaceInfo(BaseModel) — One network interface. (L213) fields: name, mac, ipv4, mtu, link_speed_mbps, is_up
  • class NetworkProbeResult(BaseModel) — Per-host network discovery output. (L224) fields: hostname, interfaces, default_route
  • class DetectionReport(BaseModel) — Typed result of a single detect_hardware() invocation. (L235) fields: schema_version, detected_at, host_os, python_version, usb, gpu, cameras, ros2, network, warnings
  • derived_runtimes() -> list[RSkillRuntime] — Translate detected accelerators into a host-supported runtime list. (L268)
  • derived_dtypes() -> list[QuantizationDtype] — Union of supported quantization dtypes across detected accelerators. (L301)