System Metrics

Understand the metrics that explain how your system is performing

Most system metrics are surfaced via the Anvil Web App, which also manages data operations. You can read more about the Web App itself here:

Anvil Web App

Devbox

We report standard machine metrics covering:

• CPU usage

• RAM usage

• Available storage

You can see these via the footer at the bottom of the screen.

Arms and Control loop

Anvil's robot control loop runs at 500Hz, sending data and getting information from every motor on each arm. This information is displayed in the Recorder page, and during episode recording.

Status

The most common status, as seen in the screenshot above, is Enabled. This confirms that the motor is receiving power and its driver is reporting no errors. Other statuses include Overcurrent, MOSFET Overheat, and other common motor states.

Position

This shows the current angular position of each motor.

Temperatures

Two temperatures for each motor are displayed, the temperature of the MOSFET and the temperature of the rotor.

Write (Tx) and Read (Rx) FPS

This reports the rate at which we are sending and receiving CAN messages from each motor, validating full-rate, both-ways communication.

Cameras

You can see all the camera-related metrics in the Recording screen at any time; they're also displayed while an episode is being recorded.

Image streams

The Web App displays live camera feeds at full framerates so you can inspect focus, occlusion, and anything else that might be affecting your image quality.

Frame rate

We measure and report a true framerate, showing how many frames per second the camera is producing. This should match your chosen configuration.

Dropped frames

You can see the average number of frames being dropped per second. On hover, this will show the total number of frames dropped since the control stack was launched. It's normal to drop some frames during startup, so if this number is non-zero but is low and not increasing, then the system is healthy.

Quest controllers

In the footer, you can see the rate at which the system is getting pose information from the Quest controllers, to help debug connectivity issues.

In addition to that are the Quest Health Checks, which is a checklist covering the important steps necessary to ensure the Quest and controllers are connected to the system properly. Most of these should happen automatically, but there's also information like Quest battery information and controller tracking status shown here. This list is also available via the footer.