Is there any way to get Microphone's audio input in G1's PC2?

[LEECHOONGHO]

Hello, Thank you for maintaining SDK code.

When I'm trying to get microphone's audio streaming input in PC2(192.168.123.161) by code below,
I could only receive data with all values of 0.
Has anyone ever experienced this problem?
I would appreciate your advice.

#133

sudo tcpdump -i enP8p1s0 host 239.168.123.161 and udp port 5555 -vvv -X

192.168.123.161.41698 > 239.168.123.161.5555: UDP, length 5120
        0x0000:  4500 05dc f302 2000 0111 f97a c0a8 7ba1  E..........z..{.
        0x0010:  efa8 7ba1 a2e2 15b3 1408 77b4 0000 0000  ..{.......w.....
        0x0020:  0000 0000 0000 0000 0000 0000 0000 0000  ................
        0x0030:  0000 0000 0000 0000 0000 0000 0000 0000  ................
        0x0040:  0000 0000 0000 0000 0000 0000 0000 0000  ................
...

I run the code when G1's Voice Assistant is in Wake-up Conversation Mode.
And when I turned it Closed mode, timeout error occurs.

And I flashed PC2 to Jetson6 version as per the manufacturer's guide.

https://nvlabs.github.io/GR00T-WholeBodyControl/references/jetpack6.html

Thank you.

[owenonline]

Did you find a resolution to this? I am experiencing the same issue, robot is in wake up voice assistant model but no data from the microphones is available in PC2.

[LEECHOONGHO]

@owenonline no, I got same result(zero output) in unitree_sdk2 c++ example.

Maybe PC1's firmware version(1.4.5~1.4.9) is the cause