Sandman Posted February 22, 2020 Share Posted February 22, 2020 For the Linux savvy ones, I found something strange. So I can login as root and I can go pretty much anywhere when I SSH into one of the robot units (terminal only). Now there is a folder called /usr/Lely, which has these contents. /usr/Lely # ls AGS Ax_A_AGS Ax_A_RCS LFWTimeServer RCS.start bootNetConf AGS.start Ax_A_AURS Ax_A_XLinkUpdater LFWTimeServer.start Software chrome.sh AURS Ax_A_LDNTranslator DoUpdate PC2Target VNC.start killme AURS.start Ax_A_LFWTimeServer LDNTranslator Proxy Version.txt lelyboot Ax_A_1024x768.qss Ax_A_PC2Target LDNTranslator.reset Proxy.start XLinkUpdater setNetConf Ax_A_640x480.qss Ax_A_Proxy LDNTranslator.start RCS XLinkUpdater.start vnc So I'd say there should be a user called Lely. However, when I check all the users using cat /etc/passwd, there's no user Lely to be found. login as: root root@10.4.1.102's password: sh: xauth: not found / # cat /etc/passwd root:WKOt7g4Zs.7W6:0:0:root:/home/root:/bin/sh daemon:*:1:1:daemon:/usr/sbin:/bin/sh bin:*:2:2:bin:/bin:/bin/sh sys:*:3:3:sys:/dev:/bin/sh sync:*:4:65534:sync:/bin:/bin/sync games:*:5:60:games:/usr/games:/bin/sh man:*:6:12:man:/var/cache/man:/bin/sh lp:*:7:7:lp:/var/spool/lpd:/bin/sh mail:*:8:8:mail:/var/mail:/bin/sh news:*:9:9:news:/var/spool/news:/bin/sh uucp:*:10:10:uucp:/var/spool/uucp:/bin/sh proxy:*:13:13:proxy:/bin:/bin/sh www-data:*:33:33:www-data:/var/www:/bin/sh backup:*:34:34:backup:/var/backups:/bin/sh list:*:38:38:Mailing List Manager:/var/list:/bin/sh irc:*:39:39:ircd:/var/run/ircd:/bin/sh gnats:*:41:41:Gnats Bug-Reporting System (admin):/var/lib/gnats:/bin/sh nobody:*:65534:65534:nobody:/nonexistent:/bin/sh messagebus:x:42:64002:Linux User,,,:/var/run/dbus:/bin/sh haldaemon:x:43:64:HAL:/var/run/hald:/bin/sh polkituser:x:44:64004:polkituser:/var/run/polkit:/bin/sh / # / # Anyone knows what's up? Link to comment Share on other sites More sharing options...
Legomaniac Posted March 4, 2020 Author Share Posted March 4, 2020 On 2/22/2020 at 5:33 PM, Sandman said: For the Linux savvy ones, I found something strange. So I can login as root and I can go pretty much anywhere when I SSH into one of the robot units (terminal only). Now there is a folder called /usr/Lely, which has these contents. /usr/Lely # ls AGS Ax_A_AGS Ax_A_RCS LFWTimeServer RCS.start bootNetConf AGS.start Ax_A_AURS Ax_A_XLinkUpdater LFWTimeServer.start Software chrome.sh AURS Ax_A_LDNTranslator DoUpdate PC2Target VNC.start killme AURS.start Ax_A_LFWTimeServer LDNTranslator Proxy Version.txt lelyboot Ax_A_1024x768.qss Ax_A_PC2Target LDNTranslator.reset Proxy.start XLinkUpdater setNetConf Ax_A_640x480.qss Ax_A_Proxy LDNTranslator.start RCS XLinkUpdater.start vnc So I'd say there should be a user called Lely. However, when I check all the users using cat /etc/passwd, there's no user Lely to be found. login as: root root@10.4.1.102's password: sh: xauth: not found / # cat /etc/passwd root:WKOt7g4Zs.7W6:0:0:root:/home/root:/bin/sh daemon:*:1:1:daemon:/usr/sbin:/bin/sh bin:*:2:2:bin:/bin:/bin/sh sys:*:3:3:sys:/dev:/bin/sh sync:*:4:65534:sync:/bin:/bin/sync games:*:5:60:games:/usr/games:/bin/sh man:*:6:12:man:/var/cache/man:/bin/sh lp:*:7:7:lp:/var/spool/lpd:/bin/sh mail:*:8:8:mail:/var/mail:/bin/sh news:*:9:9:news:/var/spool/news:/bin/sh uucp:*:10:10:uucp:/var/spool/uucp:/bin/sh proxy:*:13:13:proxy:/bin:/bin/sh www-data:*:33:33:www-data:/var/www:/bin/sh backup:*:34:34:backup:/var/backups:/bin/sh list:*:38:38:Mailing List Manager:/var/list:/bin/sh irc:*:39:39:ircd:/var/run/ircd:/bin/sh gnats:*:41:41:Gnats Bug-Reporting System (admin):/var/lib/gnats:/bin/sh nobody:*:65534:65534:nobody:/nonexistent:/bin/sh messagebus:x:42:64002:Linux User,,,:/var/run/dbus:/bin/sh haldaemon:x:43:64:HAL:/var/run/hald:/bin/sh polkituser:x:44:64004:polkituser:/var/run/polkit:/bin/sh / # / # Anyone knows what's up? I will look into this! Link to comment Share on other sites More sharing options...
Legomaniac Posted March 4, 2020 Author Share Posted March 4, 2020 On 2/21/2020 at 6:29 AM, Sandman said: Wait, might have something. While digging in some of their tools that are left on the PC I found root / lely123. Curious as to what tools you have left on your PC? Link to comment Share on other sites More sharing options...
Legomaniac Posted March 4, 2020 Author Share Posted March 4, 2020 So I have good news and bad news. I was able to login as root (Excellent news!) The bad news is, x11vnc that is installed on the robots doesn't seem compatible with input... Quote 04/03/2020 08:50:08 WARNING: XTEST extension not available (either missing from 04/03/2020 08:50:08 display or client library libXtst missing at build time). 04/03/2020 08:50:08 MOST user input (pointer and keyboard) will be DISCARDED. 04/03/2020 08:50:08 If display does have XTEST, be sure to build x11vnc with 04/03/2020 08:50:08 a working libXtst build environment (e.g. libxtst-dev, 04/03/2020 08:50:08 or other packages). 04/03/2020 08:50:08 No XTEST extension, switching to -xwarppointer mode for 04/03/2020 08:50:08 pointer motion input. Will continue to dig deeper. Link to comment Share on other sites More sharing options...
Sandman Posted March 5, 2020 Share Posted March 5, 2020 On 3/4/2020 at 2:27 PM, Legomaniac said: Curious as to what tools you have left on your PC? Afraid that Lely will sometime check up on this and block access, but I was strolling through some Lely files and found this in an install.bat: echo Installing... plink -ssh -m install.sh -pw lely123 root@%IP% echo Done pause Bingo. 🙂 Link to comment Share on other sites More sharing options...
Sandman Posted March 5, 2020 Share Posted March 5, 2020 On 3/4/2020 at 2:57 PM, Legomaniac said: So I have good news and bad news. I was able to login as root (Excellent news!) The bad news is, x11vnc that is installed on the robots doesn't seem compatible with input... Will continue to dig deeper. Indeed, x11vnc won't start as root. I was able to make a new user in terminal, but wasn't able to start x11vnc being that user either. Right now I'm looking for config files for the x11vnc that starts with the robot. Should be able to add a -noviewonly command line somewhere. In the same way I want to add a password to the VNC server as well, because of the following. Using the netsh command in W10 and portforwarding on the router I was able to link my Android smartphone directly to the robotscreen. So using the VNC viewer on my Phone I'm able to directly view the robot screen. Now adding the possibility to control the screen would make live alot easier. Link to comment Share on other sites More sharing options...
Legomaniac Posted March 6, 2020 Author Share Posted March 6, 2020 X11VNC WILL start as root. It seems the software now on the robot is different than on older versions. You don't need to create a "Lely" user. /usr is for user-installed programs. /usr/Lely is for user installed programs of Lely category, any user can access them. The problem/reason X11vnc won't start is because it isn't linking correctly to a library. In order to get x11vnc to start run export DISPLAY=:0 cd /usr/Lely/vnc LD_LIBRARY_PATH=/usr/Lely/vnc Then it will start for you. But it will still be read-only, because XTEST is missing. I'm working on it. The script they use to launch vnc is /usr/Lely/VNC.start I got those commands from in there Link to comment Share on other sites More sharing options...
Sandman Posted March 6, 2020 Share Posted March 6, 2020 Didn't know about the users, thanks! Found the VNC.start indeed, mine says Quote /usr/Lely # cat VNC.start #!/bin/sh #noxdamage in x11vnc because we don't use it, but gives warnings. #nopw in x11vnc, because we don't use a pw. mkdir -p /var/Lely/VNC cd /var/Lely/VNC while test 1; do echo "loop!" sleep 1 echo "starting..." ipaddress=`/sbin/ifconfig eth0 | grep "inet addr" | awk -F: '{print $2}' | awk '{print $1}'` echo $ipaddress DISPLAY=:0 LD_LIBRARY_PATH=/usr/Lely/vnc x11vnc -httpdir /usr/Lely/vnc/classes -httpport 8080 -desktop $ipaddress -nopw -noxdamage -noviewonly -forever done I inserted the -noviewonly and -forever myself, didn't help. When I look at the running processes X11 actually runs with those parameters but it's still viewonly. Link to comment Share on other sites More sharing options...
Sandman Posted March 13, 2020 Share Posted March 13, 2020 Could it be an idea to use -xtrap? From the x11vnc site: Use the DEC-XTRAP extension for keystroke and mouse input insertion. For use on legacy systems, e.g. X11R5, running an incomplete or missing XTEST extension. By default DEC-XTRAP will be used if XTEST server grab control is missing, use -xtrap to do the keystroke and mouse insertion via DEC-XTRAP as well. Edit: tried -xtrap, didn't work. Link to comment Share on other sites More sharing options...
Sandman Posted April 3, 2020 Share Posted April 3, 2020 On 3/6/2020 at 5:02 AM, Legomaniac said: X11VNC WILL start as root. It seems the software now on the robot is different than on older versions. You don't need to create a "Lely" user. /usr is for user-installed programs. /usr/Lely is for user installed programs of Lely category, any user can access them. The problem/reason X11vnc won't start is because it isn't linking correctly to a library. In order to get x11vnc to start run export DISPLAY=:0 cd /usr/Lely/vnc LD_LIBRARY_PATH=/usr/Lely/vnc Then it will start for you. But it will still be read-only, because XTEST is missing. I'm working on it. The script they use to launch vnc is /usr/Lely/VNC.start I got those commands from in there Any news on this? Would it be possible to build and install an X11 VNC through terminal ourselves? Link to comment Share on other sites More sharing options...
bartdereu Posted February 21, 2021 Share Posted February 21, 2021 I read this whole tread, amazing ! Been doing the same for the A5 robot, but to me it seems that they have a library built into their software. I can't seem to find anything that leads to VNC Link to comment Share on other sites More sharing options...
Buritos Posted May 28, 2021 Share Posted May 28, 2021 Господа подскажите пожалуйста как установить драйвер usb mouse? Link to comment Share on other sites More sharing options...
joost Posted May 20, 2022 Share Posted May 20, 2022 Hello, a lely service engineer from the main office here, if you ask your lelycentre they can provide you with the special software to remotely controll the astronaut both for the a4 and the a5. please do not try to "hack" the software of the e-link/ astronaut. Link to comment Share on other sites More sharing options...
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