{
  "paper_id": "OR-WP-2026-004",
  "publication_date": "2026-11-05",
  "evidence_date": "2026-11-05",
  "inspection_scope": "Read-only host audit and static binary/model inspection; no vendor launcher, transport initialization, service restart or motion command. Existing master processes continued running.",
  "new_physical_tests_for_publication": false,
  "conversion_installed": false,
  "source_report": {
    "filename": "amber-b1-xhub-audit-and-dual-arm-conversion-plan.pdf",
    "sha256": "ba6b58e75c2d13f0d30674398e01483a2c0dc1c47d3779e8f2604fa180c27995",
    "public_original": false,
    "note": "Private report preserved separately. Public edition omits machine identifiers, access details, operator messages and binary payloads."
  },
  "installed_stack": {
    "family": "B1 V1 X-Hub / EtherCAT",
    "api_configuration_version": "1.1",
    "api_version_is_hub_firmware": false,
    "ros": "Foxy",
    "soem_ros2_version": "1.4.0",
    "controller_hz": 200,
    "open_loop_control": true,
    "command_interfaces": [
      "position",
      "velocity"
    ],
    "hardware_plugin_sha256": "ec3123dcbe311e15793b33831049204fafb994479e6bd815f70b57f4d9414c68",
    "hardware_plugin_build_id": "82c8778c462175daa1890e4b1052302768bc7abf",
    "gui_sha256": "38e9f38095c49b301b848b17b016e34d9eda099e33f7077d4e1b9d5c7421ac80",
    "current_core_sha256": "554e7088b94b98f03f152f394c5e5b1d1ecfd16dacd470889e65dc83c36d2100",
    "current_core_required_glibc": "2.34"
  },
  "hosts": {
    "older": {
      "cpu": "Intel Celeron N2840",
      "cores": 2,
      "ram_bytes": 1960660992,
      "swap_bytes": 0,
      "disk_bytes": 32017047552,
      "ubuntu": "20.04.3",
      "glibc": "2.31",
      "network_interfaces": 2
    },
    "current": {
      "cpu": "Intel Celeron J4125",
      "cores": 4,
      "ram_gb_approx": 3.92,
      "swap_gb_approx": 3.99,
      "disk_bytes": 64023257088,
      "ubuntu": "22.04.3",
      "glibc": "2.35"
    }
  },
  "cpu_sample": {
    "host": "current",
    "interval_seconds_approx": 2.025,
    "per_process_percent_one_logical_cpu_is_100": [
      194.1,
      187.1
    ],
    "per_process_threads": [
      19,
      19
    ],
    "combined_logical_cpus_approx": 3.81,
    "interpretation": "Short sampled current workload, not a N2840 benchmark, real-time qualification or proof an efficient two-arm controller is infeasible."
  },
  "hubs": {
    "operator_reported_powered": 2,
    "ethernet_connected": 0,
    "spare_ethercat_port_carrier": false,
    "physical_model_label_verified": false,
    "firmware_verified": false,
    "eeprom_verified": false,
    "two_hub_topology_verified": false,
    "direct_usb_can_compatibility_verified": false
  },
  "historical_log": {
    "date": "2024-10-20",
    "slave_count": 1,
    "input_bytes": 92,
    "output_bytes": 56,
    "expected_working_counter": 3,
    "later_events": [
      "packet errors",
      "lost slave",
      "degraded ESTOP"
    ],
    "interpretation": "Past connection only; not current hub identity or failure diagnosis."
  },
  "models": {
    "standalone_urdf": {
      "j7_limits_rad": [
        -314,
        314
      ],
      "joint_velocity": 10
    },
    "launched_xacro": {
      "j7_limits_rad": [
        -3.05,
        3.05
      ],
      "j1_j4_velocity": 3.1415,
      "j5_j7_velocity": 5.23
    },
    "current_solver": {
      "per_arm_joints": 7,
      "limits_rad": [
        -2.09,
        2.09
      ],
      "effort": 100000,
      "velocity": 1000000
    },
    "interpretation": "Values observed in files; not measured or commissioned actuator limits."
  },
  "preservation": {
    "regular_files": 393,
    "compressed_bytes": 15203162,
    "archive_sha256": "0a90a608a97bff397c9fac2ea4b49f9ed5c019a84bfc52dc13a1059f8546fae4",
    "source_hash_mismatches": 0,
    "archive_public": false,
    "full_disk_image_verified": false,
    "restore_boot_verified": false
  },
  "open_gates": [
    "full-disk preservation and restore",
    "independent clone identity",
    "runtime and instruction compatibility",
    "two-arm target-host timing",
    "hub and arm identity",
    "electrical and protocol compatibility",
    "measured joint limits and full-body collision frames",
    "exclusive writers and restart inhibition",
    "physical Stop and retarget commissioning"
  ],
  "paper_version": "1.0",
  "project_background_url": "https://www.orbitusrobotics.com/whitepapers/rob-project-background.json",
  "source_references": [
    {
      "label": "[1] Curated November 5 host-audit evidence (this publication)",
      "url": "https://www.orbitusrobotics.com/whitepapers/amber-xhub-dual-arm-conversion.evidence.json"
    },
    {
      "label": "[2] AMBER B1 vendor launcher, pinned revision 4074511",
      "url": "https://github.com/MrAsana/AMBER_B1_ROS2/blob/407451125c2adb2dbac8a9c823b54f7cfee4a71a/Scripts/b1.sh"
    },
    {
      "label": "[3] ROS 2 Foxy release documentation: supported platforms",
      "url": "https://raw.githubusercontent.com/ros2/ros2_documentation/foxy/source/Releases/Release-Foxy-Fitzroy.rst"
    },
    {
      "label": "[4] Canonical Ubuntu release cycle, checked November 5, 2026",
      "url": "https://ubuntu.com/about/release-cycle"
    },
    {
      "label": "[5] OR-WP-2026-001: Motion retargeting and the persistent owner",
      "url": "https://www.orbitusrobotics.com/whitepapers/arm-transition-fix-2026-11-01/"
    },
    {
      "label": "[6] OR-WP-2026-003: Recovery-first CAN takeover plan",
      "url": "https://www.orbitusrobotics.com/whitepapers/amber-can-takeover-and-recovery-plan/"
    },
    {
      "label": "[7] ROB project chronology and public codebase map",
      "url": "https://www.orbitusrobotics.com/whitepapers/rob-project-background.json"
    },
    {
      "label": "[8] ROB software platform and operator interfaces",
      "url": "https://www.orbitusrobotics.com/products/"
    }
  ]
}