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"queue_remaining": 12} +{"event": "failed", "time_ns": 1789913756129131808, "actions_sent": 604, "error": "RuntimeError: async overlap exhausted before the next prediction was ready"} diff --git a/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/data/round_0017/manifests/action.json b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/data/round_0017/manifests/action.json new file mode 100644 index 0000000000000000000000000000000000000000..539c3045e1bb404159d9c918c12ba949aa05d29d --- /dev/null +++ b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/data/round_0017/manifests/action.json @@ -0,0 +1,28 @@ +{ + "prometheus_action_recorder": { + "counts": { + "action.executed": 604, + "camera.base_0_rgb": 629, + "camera.left_wrist_0_rgb": 628, + "camera.right_wrist_0_rgb": 630, + "dropped": 0, + "event.workflow": 1, + "items": 5009, + "robot.robot_state": 2517 + }, + "episode_dir": "outputs/openpi_rollout/pi05_v3_four_tasks_full_15000/put_baozi/data/round_0017", + "executed_actions": 604, + "failure": "", + "metadata": { + "round_number": 17, + "run_id": "20260920_221240_436448_round_0017", + "workflow": "openpi_rollout" + }, + "policy_action_chunks": 0, + "record_id": "prometheus_action_recorder", + "record_mode": "action", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789913756.2459872 + } +} diff --git a/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/.hydra/config.yaml b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..93047d92f6603645c9bdbf15b42a60137be75b2a --- /dev/null +++ b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,239 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/pi05_v3_four_tasks_full_15000/put_baozi + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the right arm to pick up the steamed bun and place it in the air fryer + basket. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.40147251009941104 + - 0.618776296377182 + - 0.5956588095426559 + - 0.4531014055013657 + - 1.0002136100828647 + - 1.5542610847949982 + - 0.13904411427676677 + - 0.53632409773767 + - 0.711245882511139 + - 0.9085143971443176 + - 0.6218586921691894 + - 2.1306553721427917 + - 0.9146791793219745 + - 0.14422834947705268 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64a3ab58a5cad435ed5624bfd00989b7202ddc0a --- /dev/null +++ b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Use the right arm to pick up the steamed bun and place it in + the air fryer basket." + - run.output_dir=outputs/openpi_rollout/pi05_v3_four_tasks_full_15000/put_baozi + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use + the right arm to pick up the steamed bun and place it in the air fryer basket.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi05_v3_four_tasks_full_15000/put_baozi,run.steps=40 + id: ??? + num: ??? + config_name: openpi_pi05_v3_four_tasks_full_15000 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..423c02a3ea05360d43fe2acc80d1ebfe510a9532 --- /dev/null +++ b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Use the right arm to pick up the steamed bun and place it in the + air fryer basket." +- run.output_dir=outputs/openpi_rollout/pi05_v3_four_tasks_full_15000/put_baozi diff --git a/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..5e9043349da031c770c337a59a3cbdc4b1c70816 --- /dev/null +++ b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/hydra/openpi_rollout.log @@ -0,0 +1,1295 @@ +[2026-09-20 22:04:49,976][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 22:04:49,977][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 22:04:49,977][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 22:04:49,978][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 22:04:49,978][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 22:04:49,978][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 22:04:49,978][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 22:04:49,978][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 22:04:49,978][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 22:04:49,979][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 22:04:49,979][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 22:04:49,979][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 22:04:49,979][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 22:04:49,979][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 22:04:49,979][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 22:04:49,979][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 22:04:49,979][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:04:49,980][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:04:49,980][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:04:49,980][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:04:49,980][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:04:49,980][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:04:49,980][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:04:49,980][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:04:49,980][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:04:49,980][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:04:49,980][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:04:49,980][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:04:49,980][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 22:04:49,980][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:04:49,981][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:04:49,992][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:04:50,003][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 22:04:50,014][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:04:50,025][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:04:50,036][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:50,047][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:04:50,058][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:04:50,068][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:50,079][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:04:50,090][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:04:50,101][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:50,112][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:04:50,123][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:04:50,133][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:50,144][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:04:50,155][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:04:50,166][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:50,176][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:04:50,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:04:50,198][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:50,209][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:04:50,209][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 22:04:50,209][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:04:50,209][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:04:50,264][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:04:50,318][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:04:50,372][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:04:50,425][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:04:50,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:04:50,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:04:50,587][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:04:50,587][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:04:50,587][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:04:50,587][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:04:50,598][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:04:50,603][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:04:50,608][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:04:50,615][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:04:50,621][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:04:50,627][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:04:50,633][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:04:50,639][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 22:04:50,640][root][INFO] - current_pos: [0.05321583886472858, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0005722133211261138, 0.03070878156710144, 0.020027466239413982] +[2026-09-20 22:04:50,640][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:04:50,640][root][INFO] - starting separate thread for control loop +[2026-09-20 22:04:50,740][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=0.05321583886472858, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789913090.7406073), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789913090.7406073), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789913090.7406073), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789913090.7406073), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789913090.7406073), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.03070878156710144, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913090.7406073), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.020027466239413982, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913090.7406073)] +[2026-09-20 22:04:50,740][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:04:50,740][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0200 +[2026-09-20 22:04:50,740][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:04:51,368][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-20 22:04:51,669][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:04:52,296][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 22:04:52,596][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032) +[2026-09-20 22:04:52,596][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-20 22:04:52,832][root][INFO] - initializing, .... +[2026-09-20 22:04:52,889][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:04:52,889][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:04:52,889][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:04:52,889][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:04:52,889][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:04:52,889][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:04:52,890][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:04:52,890][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:04:52,890][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:04:52,890][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:04:52,890][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:04:52,890][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:04:52,890][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 22:04:52,890][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:04:52,890][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:04:52,901][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:04:52,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:52,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:04:52,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:04:52,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:52,955][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:04:52,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:04:52,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:52,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:04:52,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:04:53,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:53,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:04:53,030][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:04:53,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:53,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:04:53,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:04:53,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:53,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:04:53,094][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:04:53,105][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:04:53,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:04:53,115][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 22:04:53,115][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:04:53,116][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:04:53,169][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:04:53,223][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:04:53,277][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:04:53,331][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:04:53,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:04:53,440][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:04:53,493][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:04:53,493][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:04:53,494][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:04:53,494][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:04:53,504][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:04:53,510][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:04:53,516][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:04:53,522][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:04:53,528][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:04:53,534][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:04:53,540][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:04:53,545][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 22:04:53,546][root][INFO] - current_pos: [0.00705729762722207, -0.0020981155107957505, 0.000953688868543523, -0.0020981155107957505, -0.042534523537041125, -0.027656977187762166, 0.013923857480735435] +[2026-09-20 22:04:53,546][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:04:53,546][root][INFO] - starting separate thread for control loop +[2026-09-20 22:04:53,646][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.00705729762722207, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789913093.6464577), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913093.6464577), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789913093.6464577), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0017166399633747886, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789913093.6464577), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.042534523537041125, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913093.6464577), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.027656977187762166, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913093.6464577), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.013923857480735435, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789913093.6464577)] +[2026-09-20 22:04:53,646][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:04:53,646][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0139 +[2026-09-20 22:04:53,646][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:04:54,262][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 22:04:54,562][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:04:55,180][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 22:04:55,480][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.261120012207218, -0.011253528648817124) +[2026-09-20 22:04:55,480][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26112001 -0.01125353] +[2026-09-20 22:04:55,617][root][INFO] - initializing, .... +[2026-09-20 22:05:02,836][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 207.46 Hz +[2026-09-20 22:05:05,621][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 202.67 Hz +[2026-09-20 22:05:10,797][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 228.28 iterations per second over 17.25 seconds. +[2026-09-20 22:05:10,805][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 235.31 iterations per second over 20.16 seconds. +[2026-09-20 22:05:13,172][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 22:05:13,173][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 22:05:13,173][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 22:05:13,173][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 22:05:13,173][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 22:05:13,173][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 22:05:13,174][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 22:05:13,174][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 22:05:13,174][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 22:05:13,175][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 22:05:13,175][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 22:05:13,175][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 22:05:13,175][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 22:05:13,175][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 22:05:13,175][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 22:05:13,175][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:05:13,175][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:05:13,176][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:05:13,176][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 22:05:13,176][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:05:13,176][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:05:13,188][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:05:13,199][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 22:05:13,210][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:05:13,221][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:05:13,232][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:13,243][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:05:13,254][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:05:13,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:13,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:05:13,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:05:13,298][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:13,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:05:13,320][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:05:13,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:13,343][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:05:13,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:05:13,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:13,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:05:13,387][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:05:13,399][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:13,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:05:13,410][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 22:05:13,410][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:05:13,410][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:05:13,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:05:13,518][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:05:13,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:05:13,625][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:05:13,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:05:13,732][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:05:13,786][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:05:13,786][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:05:13,786][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:05:13,786][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:05:13,797][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:05:13,802][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:05:13,808][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:05:13,814][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:05:13,820][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:05:13,826][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:05:13,832][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:05:13,838][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 22:05:13,839][root][INFO] - current_pos: [0.05283436331731117, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, 0.000953688868543523, 0.02613107499809253, -0.003242542153047978] +[2026-09-20 22:05:13,839][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:05:13,839][root][INFO] - starting separate thread for control loop +[2026-09-20 22:05:13,939][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.05283436331731117, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789913113.939557), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789913113.939557), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913113.939557), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789913113.939557), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789913113.939557), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.02613107499809253, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913113.939557), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.00362401770046894, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913113.939557)] +[2026-09-20 22:05:13,939][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:05:13,939][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0036 +[2026-09-20 22:05:13,939][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:05:14,572][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-20 22:05:14,872][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:05:15,503][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 22:05:15,803][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032) +[2026-09-20 22:05:15,804][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-20 22:05:16,038][root][INFO] - initializing, .... +[2026-09-20 22:05:16,039][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:05:16,039][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:05:16,039][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:05:16,040][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:05:16,040][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:05:16,040][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:05:16,040][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:05:16,040][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:05:16,040][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:05:16,040][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:05:16,040][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:05:16,040][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:05:16,040][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 22:05:16,040][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:05:16,040][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:05:16,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:05:16,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:16,073][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:05:16,084][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:05:16,095][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:16,105][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:05:16,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:05:16,127][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:16,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:05:16,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:05:16,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:16,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:05:16,180][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:05:16,191][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:16,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:05:16,213][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:05:16,223][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:16,234][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:05:16,245][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:05:16,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:05:16,266][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:05:16,266][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 22:05:16,267][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:05:16,267][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:05:16,320][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:05:16,374][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:05:16,428][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:05:16,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:05:16,538][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:05:16,593][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:05:16,648][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:05:16,648][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:05:16,649][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:05:16,649][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:05:16,660][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:05:16,666][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:05:16,672][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:05:16,678][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:05:16,684][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:05:16,690][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:05:16,696][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:05:16,702][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 22:05:16,702][root][INFO] - current_pos: [0.00705729762722207, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, -0.042915999084458534, -0.02155336842908362, -0.004386968795300206] +[2026-09-20 22:05:16,703][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:05:16,703][root][INFO] - starting separate thread for control loop +[2026-09-20 22:05:16,803][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.00705729762722207, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789913116.8033404), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913116.8033404), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913116.8033404), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1789913116.8033404), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.042915999084458534, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913116.8033404), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.02155336842908362, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913116.8033404), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.004386968795300206, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789913116.8033404)] +[2026-09-20 22:05:16,803][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:05:16,803][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-20 22:05:16,803][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:05:17,430][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 22:05:17,730][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:05:18,355][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 22:05:18,655][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.254634927901122, -0.011253528648817124) +[2026-09-20 22:05:18,656][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25463493 -0.01125353] +[2026-09-20 22:05:18,791][root][INFO] - initializing, .... +[2026-09-20 22:05:26,044][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.46 Hz +[2026-09-20 22:05:28,793][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.87 Hz +[2026-09-20 22:05:29,875][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:05:29,875][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:05:36,046][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.91 Hz +[2026-09-20 22:05:38,796][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.34 Hz +[2026-09-20 22:05:41,984][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.13 iterations per second over 25.28 seconds. +[2026-09-20 22:05:41,991][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.19 iterations per second over 28.15 seconds. +[2026-09-20 22:06:13,854][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 22:06:13,856][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 22:06:13,856][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 22:06:13,856][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 22:06:13,856][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 22:06:13,856][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 22:06:13,856][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 22:06:13,856][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 22:06:13,856][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 22:06:13,857][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 22:06:13,857][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 22:06:13,857][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 22:06:13,857][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 22:06:13,857][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 22:06:13,857][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 22:06:13,857][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:06:13,858][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:06:13,858][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:06:13,858][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 22:06:13,858][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:06:13,859][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:06:13,871][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:06:13,882][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 22:06:13,893][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:06:13,904][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:06:13,915][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:13,926][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:06:13,937][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:06:13,948][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:13,960][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:06:13,970][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:06:13,981][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:13,992][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:06:14,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:06:14,015][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:14,026][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:06:14,037][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:06:14,048][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:14,059][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:06:14,071][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:06:14,082][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:14,093][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:06:14,093][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-20 22:06:14,093][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:06:14,093][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:06:14,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:06:14,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:06:14,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:06:14,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:06:14,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:06:14,418][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:06:14,471][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:06:14,472][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:06:14,472][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:06:14,472][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:06:14,482][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:06:14,487][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:06:14,494][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:06:14,500][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:06:14,506][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:06:14,512][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:06:14,518][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:06:14,524][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 22:06:14,525][root][INFO] - current_pos: [0.05474174105439822, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, 0.000953688868543523, 0.03032730601968403, -0.0024795910582131597] +[2026-09-20 22:06:14,525][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:06:14,525][root][INFO] - starting separate thread for control loop +[2026-09-20 22:06:14,625][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.05474174105439822, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789913174.6255217), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789913174.6255217), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913174.6255217), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913174.6255217), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789913174.6255217), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.03032730601968403, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913174.6255217), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913174.6255217)] +[2026-09-20 22:06:14,625][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:06:14,625][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0025 +[2026-09-20 22:06:14,625][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:06:15,255][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 22:06:15,555][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:06:16,185][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 22:06:16,485][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.007438773174643032) +[2026-09-20 22:06:16,485][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.00743877] +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:06:16,723][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:06:16,723][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:06:16,723][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 22:06:16,723][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:06:16,724][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:06:16,725][root][INFO] - initializing, .... +[2026-09-20 22:06:16,734][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:06:16,745][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:16,756][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:06:16,767][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:06:16,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:16,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:06:16,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:06:16,810][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:16,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:06:16,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:06:16,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:16,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:06:16,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:06:16,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:16,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:06:16,895][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:06:16,906][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:16,917][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:06:16,927][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:06:16,938][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:06:16,949][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:06:16,949][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 22:06:16,949][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:06:16,949][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:06:17,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:06:17,057][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:06:17,111][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:06:17,164][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:06:17,218][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:06:17,271][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:06:17,325][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:06:17,325][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:06:17,325][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:06:17,325][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:06:17,336][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:06:17,341][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:06:17,347][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:06:17,353][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:06:17,359][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:06:17,365][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:06:17,371][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:06:17,377][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 22:06:17,377][root][INFO] - current_pos: [-0.014305333028152845, -0.0013351644159609322, 0.06694895857175531, -0.15697718776226388, -0.023460746166170665, -0.02574959945067512, 0.35610742351415325] +[2026-09-20 22:06:17,377][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:06:17,377][root][INFO] - starting separate thread for control loop +[2026-09-20 22:06:17,478][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.014305333028152845, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789913177.4783661), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913177.4783661), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.06694895857175531, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913177.4783661), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.15697718776226388, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913177.4783661), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.02384222171358452, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913177.4783661), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.02574959945067512, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913177.4783661), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.35610742351415325, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789913177.4783661)] +[2026-09-20 22:06:17,478][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:06:17,478][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.3561 +[2026-09-20 22:06:17,478][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:06:18,101][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 22:06:18,401][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:06:19,024][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 22:06:19,324][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.254634927901122, -0.011253528648813571) +[2026-09-20 22:06:19,325][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25463493 -0.01125353] +[2026-09-20 22:06:19,449][root][INFO] - initializing, .... +[2026-09-20 22:06:26,727][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.81 Hz +[2026-09-20 22:06:29,452][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.96 Hz +[2026-09-20 22:06:35,088][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:06:35,088][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:06:36,731][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.02 Hz +[2026-09-20 22:06:39,452][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.38 Hz +[2026-09-20 22:06:44,527][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.95 iterations per second over 30.00 seconds. +[2026-09-20 22:06:44,527][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003937 s, max step_time: 0.065886 s +[2026-09-20 22:06:46,734][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.63 Hz +[2026-09-20 22:06:47,378][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.83 iterations per second over 30.00 seconds. +[2026-09-20 22:06:47,378][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003970 s, max step_time: 0.059940 s +[2026-09-20 22:06:49,456][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.21 Hz +[2026-09-20 22:06:56,737][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.51 Hz +[2026-09-20 22:06:59,457][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.97 Hz +[2026-09-20 22:07:06,739][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.17 Hz +[2026-09-20 22:07:09,459][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.35 Hz +[2026-09-20 22:07:14,530][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.51 iterations per second over 30.00 seconds. +[2026-09-20 22:07:14,530][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003868 s, max step_time: 0.007215 s +[2026-09-20 22:07:16,742][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.24 Hz +[2026-09-20 22:07:17,380][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.05 iterations per second over 30.00 seconds. +[2026-09-20 22:07:19,460][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.08 Hz +[2026-09-20 22:07:20,959][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003829 s, max step_time: 0.007215 s +[2026-09-20 22:07:26,744][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.73 Hz +[2026-09-20 22:07:29,463][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.02 Hz +[2026-09-20 22:07:36,744][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.88 Hz +[2026-09-20 22:07:39,465][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.76 Hz +[2026-09-20 22:07:42,136][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:07:42,136][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:07:44,532][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.92 iterations per second over 30.00 seconds. +[2026-09-20 22:07:44,532][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003985 s, max step_time: 0.025560 s +[2026-09-20 22:07:46,746][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.76 Hz +[2026-09-20 22:07:47,384][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.04 iterations per second over 30.00 seconds. +[2026-09-20 22:07:49,468][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.58 Hz +[2026-09-20 22:07:50,961][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003997 s, max step_time: 0.020686 s +[2026-09-20 22:07:56,747][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.99 Hz +[2026-09-20 22:07:59,469][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.22 Hz +[2026-09-20 22:08:06,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.84 Hz +[2026-09-20 22:08:09,470][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.38 Hz +[2026-09-20 22:08:14,532][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.26 iterations per second over 30.00 seconds. +[2026-09-20 22:08:14,532][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003857 s, max step_time: 0.008261 s +[2026-09-20 22:08:16,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.82 Hz +[2026-09-20 22:08:17,385][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.25 iterations per second over 30.00 seconds. +[2026-09-20 22:08:19,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.98 Hz +[2026-09-20 22:08:20,961][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003800 s, max step_time: 0.007602 s +[2026-09-20 22:08:26,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.81 Hz +[2026-09-20 22:08:29,472][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.65 Hz +[2026-09-20 22:08:36,719][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.77 iterations per second over 19.33 seconds. +[2026-09-20 22:08:36,728][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 265.87 iterations per second over 22.20 seconds. +[2026-09-20 22:08:39,322][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 22:08:39,324][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 22:08:39,324][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 22:08:39,324][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 22:08:39,324][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 22:08:39,324][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 22:08:39,324][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 22:08:39,324][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 22:08:39,324][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 22:08:39,325][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 22:08:39,325][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 22:08:39,325][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 22:08:39,325][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 22:08:39,325][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 22:08:39,325][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 22:08:39,325][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:08:39,326][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:08:39,326][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:08:39,326][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 22:08:39,326][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:08:39,327][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:08:39,339][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:08:39,350][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 22:08:39,362][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:08:39,373][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:08:39,384][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:39,395][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:08:39,406][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:08:39,417][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:39,427][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:08:39,438][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:08:39,449][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:39,460][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:08:39,471][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:08:39,482][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:39,493][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:08:39,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:08:39,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:39,526][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:08:39,538][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:08:39,549][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:39,560][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:08:39,560][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 22:08:39,560][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:08:39,561][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:08:39,616][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:08:39,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:08:39,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:08:39,782][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:08:39,839][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:08:39,893][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:08:39,948][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:08:39,949][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:08:39,949][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:08:39,949][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:08:39,960][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:08:39,966][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:08:39,971][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:08:39,978][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:08:39,985][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:08:39,993][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:08:39,999][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:08:40,005][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 22:08:40,005][root][INFO] - current_pos: [0.056649118791485265, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, 0.03032730601968403, 0.01583123521782248] +[2026-09-20 22:08:40,005][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:08:40,005][root][INFO] - starting separate thread for control loop +[2026-09-20 22:08:40,106][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.056649118791485265, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789913320.1060798), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789913320.1060798), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789913320.1060798), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=38.0, timestamp=1789913320.1060798), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789913320.1060798), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.03032730601968403, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913320.1060798), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913320.1060798)] +[2026-09-20 22:08:40,106][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:08:40,106][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0154 +[2026-09-20 22:08:40,106][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:08:40,791][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-20 22:08:41,091][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:08:41,721][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 22:08:42,021][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032) +[2026-09-20 22:08:42,021][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-20 22:08:42,256][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:08:42,256][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:08:42,256][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:08:42,256][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:08:42,256][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:08:42,256][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:08:42,256][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:08:42,256][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:08:42,257][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:08:42,257][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:08:42,257][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:08:42,257][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:08:42,257][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 22:08:42,257][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:08:42,257][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:08:42,257][root][INFO] - initializing, .... +[2026-09-20 22:08:42,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:08:42,279][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:42,290][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:08:42,301][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:08:42,312][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:42,322][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:08:42,333][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:08:42,344][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:42,355][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:08:42,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:08:42,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:42,387][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:08:42,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:08:42,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:42,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:08:42,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:08:42,440][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:42,451][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:08:42,462][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:08:42,473][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:08:42,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:08:42,483][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 22:08:42,483][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:08:42,484][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:08:42,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:08:42,591][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:08:42,645][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:08:42,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:08:42,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:08:42,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:08:42,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:08:42,859][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:08:42,859][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:08:42,859][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:08:42,870][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:08:42,875][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:08:42,881][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:08:42,887][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:08:42,893][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:08:42,899][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:08:42,905][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:08:42,911][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 22:08:42,911][root][INFO] - current_pos: [0.10624093995574846, -0.0020981155107957505, 0.000953688868543523, 0.0020981155107957505, 0.002861066605630569, 0.060463874265659356, 1.3841840238040746] +[2026-09-20 22:08:42,911][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:08:42,911][root][INFO] - starting separate thread for control loop +[2026-09-20 22:08:43,011][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.02051282051282044, pos=0.10624093995574846, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789913323.0118716), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789913323.0118716), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789913323.0118716), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1789913323.0118716), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.002861066605630569, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789913323.0118716), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.060463874265659356, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913323.0118716), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=1.3838025482566572, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789913323.0118716)] +[2026-09-20 22:08:43,012][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:08:43,012][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.3838 +[2026-09-20 22:08:43,012][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:08:43,627][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 22:08:43,927][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:08:44,549][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 22:08:44,849][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2733272297245755, -0.011253528648813571) +[2026-09-20 22:08:44,850][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27332723 -0.01125353] +[2026-09-20 22:08:44,974][root][INFO] - initializing, .... +[2026-09-20 22:08:52,263][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.52 Hz +[2026-09-20 22:08:54,979][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.74 Hz +[2026-09-20 22:09:00,797][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:09:00,797][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:09:02,263][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.86 Hz +[2026-09-20 22:09:04,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.14 Hz +[2026-09-20 22:09:10,008][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.21 iterations per second over 30.00 seconds. +[2026-09-20 22:09:10,008][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003933 s, max step_time: 0.065523 s +[2026-09-20 22:09:12,264][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.88 Hz +[2026-09-20 22:09:12,914][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.45 iterations per second over 30.00 seconds. +[2026-09-20 22:09:12,914][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003976 s, max step_time: 0.067780 s +[2026-09-20 22:09:14,983][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.55 Hz +[2026-09-20 22:09:22,267][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.15 Hz +[2026-09-20 22:09:24,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.83 Hz +[2026-09-20 22:09:27,538][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:09:27,538][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:09:32,267][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.09 Hz +[2026-09-20 22:09:34,989][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.02 Hz +[2026-09-20 22:09:40,011][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.91 iterations per second over 30.00 seconds. +[2026-09-20 22:09:40,011][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.004001 s, max step_time: 0.020319 s +[2026-09-20 22:09:42,267][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.97 Hz +[2026-09-20 22:09:42,917][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.57 iterations per second over 30.00 seconds. +[2026-09-20 22:09:42,917][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003944 s, max step_time: 0.020153 s +[2026-09-20 22:09:44,993][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.72 Hz +[2026-09-20 22:09:52,270][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.03 Hz +[2026-09-20 22:09:54,997][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.19 Hz +[2026-09-20 22:10:02,272][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.74 Hz +[2026-09-20 22:10:04,999][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.96 Hz +[2026-09-20 22:10:08,614][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:10:08,615][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:10:10,011][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.16 iterations per second over 30.00 seconds. +[2026-09-20 22:10:10,011][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003966 s, max step_time: 0.061974 s +[2026-09-20 22:10:12,274][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.26 Hz +[2026-09-20 22:10:12,920][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.85 iterations per second over 30.00 seconds. +[2026-09-20 22:10:12,920][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003924 s, max step_time: 0.025277 s +[2026-09-20 22:10:15,000][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.47 Hz +[2026-09-20 22:10:22,278][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.22 Hz +[2026-09-20 22:10:25,003][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.86 Hz +[2026-09-20 22:10:32,279][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.19 Hz +[2026-09-20 22:10:33,861][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:10:33,862][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:10:35,003][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.37 Hz +[2026-09-20 22:10:40,012][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.96 iterations per second over 30.00 seconds. +[2026-09-20 22:10:40,012][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003969 s, max step_time: 0.027074 s +[2026-09-20 22:10:42,281][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.22 Hz +[2026-09-20 22:10:42,921][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.82 iterations per second over 30.00 seconds. +[2026-09-20 22:10:42,922][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003971 s, max step_time: 0.027668 s +[2026-09-20 22:10:45,008][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.02 Hz +[2026-09-20 22:10:52,284][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.74 Hz +[2026-09-20 22:10:55,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.10 Hz +[2026-09-20 22:11:02,286][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.24 Hz +[2026-09-20 22:11:05,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.18 Hz +[2026-09-20 22:11:10,013][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.82 iterations per second over 30.00 seconds. +[2026-09-20 22:11:10,013][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003819 s, max step_time: 0.009120 s +[2026-09-20 22:11:10,262][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 264.15 iterations per second over 27.34 seconds. +[2026-09-20 22:11:10,270][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 272.91 iterations per second over 0.26 seconds. +[2026-09-20 22:12:40,767][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 22:12:40,768][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 22:12:40,768][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 22:12:40,768][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 22:12:40,768][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 22:12:40,768][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 22:12:40,769][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 22:12:40,769][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 22:12:40,769][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 22:12:40,770][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 22:12:40,770][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 22:12:40,770][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 22:12:40,770][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 22:12:40,770][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 22:12:40,770][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 22:12:40,770][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:12:40,770][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:12:40,770][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:12:40,771][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 22:12:40,771][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:12:40,772][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:12:40,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:12:40,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 22:12:40,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:12:40,817][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:12:40,828][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:40,839][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:12:40,850][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:12:40,861][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:40,872][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:12:40,883][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:12:40,894][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:40,905][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:12:40,916][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:12:40,928][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:40,939][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:12:40,950][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:12:40,961][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:40,971][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:12:40,983][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:12:40,994][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:41,005][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:12:41,005][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 22:12:41,005][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:12:41,005][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:12:41,061][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:12:41,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:12:41,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:12:41,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:12:41,282][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:12:41,338][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:12:41,393][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:12:41,393][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:12:41,393][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:12:41,393][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:12:41,405][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:12:41,410][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:12:41,416][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:12:41,423][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:12:41,429][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:12:41,436][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:12:41,442][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:12:41,448][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 22:12:41,448][root][INFO] - current_pos: [0.061226825360494175, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, 0.02651255054550994, 0.015449759670405072] +[2026-09-20 22:12:41,448][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:12:41,448][root][INFO] - starting separate thread for control loop +[2026-09-20 22:12:41,549][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.026862026862026767, eff=-0.006837606837606813, pos=0.061226825360494175, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789913561.5492673), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789913561.5492673), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913561.5492673), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789913561.5492673), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789913561.5492673), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.02651255054550994, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913561.5492673), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913561.5492673)] +[2026-09-20 22:12:41,549][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:12:41,549][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0154 +[2026-09-20 22:12:41,549][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:12:42,170][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695 +[2026-09-20 22:12:42,470][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:12:43,090][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 22:12:43,390][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032) +[2026-09-20 22:12:43,391][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-20 22:12:43,630][root][INFO] - initializing, .... +[2026-09-20 22:12:43,686][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:12:43,686][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:12:43,686][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:12:43,686][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:12:43,686][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:12:43,686][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:12:43,686][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:12:43,686][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:12:43,687][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:12:43,687][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:12:43,687][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:12:43,687][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:12:43,687][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 22:12:43,687][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:12:43,687][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:12:43,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:12:43,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:43,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:12:43,731][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:12:43,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:43,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:12:43,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:12:43,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:43,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:12:43,795][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:12:43,806][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:43,817][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:12:43,827][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:12:43,838][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:43,849][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:12:43,860][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:12:43,871][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:43,881][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:12:43,892][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:12:43,903][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:12:43,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:12:43,914][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 22:12:43,914][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:12:43,914][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:12:43,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:12:44,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:12:44,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:12:44,128][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:12:44,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:12:44,235][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:12:44,289][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:12:44,289][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:12:44,289][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:12:44,289][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:12:44,300][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:12:44,305][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:12:44,311][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:12:44,317][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:12:44,323][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:12:44,329][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:12:44,335][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:12:44,341][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 22:12:44,341][root][INFO] - current_pos: [-0.10128175783932214, -0.0020981155107957505, 0.000953688868543523, 0.0013351644159609322, -0.023460746166170665, -0.02613107499809253, 1.2891966124971397] +[2026-09-20 22:12:44,341][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:12:44,341][root][INFO] - starting separate thread for control loop +[2026-09-20 22:12:44,442][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.10090028229190118, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789913564.4419644), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.03418803418803407, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789913564.4419644), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789913564.4419644), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=31.0, timestamp=1789913564.4419644), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.023460746166170665, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789913564.4419644), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=-0.02613107499809253, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913564.4419644), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=1.2891966124971397, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789913564.4419644)] +[2026-09-20 22:12:44,442][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:12:44,442][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.2892 +[2026-09-20 22:12:44,442][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:12:45,007][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 22:12:45,307][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:12:45,967][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 22:12:46,268][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.262645914396888, -0.011253528648817124) +[2026-09-20 22:12:46,268][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26264591 -0.01125353] +[2026-09-20 22:12:46,394][root][INFO] - initializing, .... +[2026-09-20 22:12:53,633][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.21 Hz +[2026-09-20 22:12:56,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.03 Hz +[2026-09-20 22:13:03,637][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.94 Hz +[2026-09-20 22:13:06,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.10 Hz +[2026-09-20 22:13:11,450][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.86 iterations per second over 30.00 seconds. +[2026-09-20 22:13:11,450][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004034 s, max step_time: 0.071640 s +[2026-09-20 22:13:13,077][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:13:13,077][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:13:13,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.46 Hz +[2026-09-20 22:13:14,343][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.19 iterations per second over 30.00 seconds. +[2026-09-20 22:13:14,343][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.004078 s, max step_time: 0.068874 s +[2026-09-20 22:13:16,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.41 Hz +[2026-09-20 22:13:23,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.06 Hz +[2026-09-20 22:13:26,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.93 Hz +[2026-09-20 22:13:33,642][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.21 Hz +[2026-09-20 22:13:36,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.40 Hz +[2026-09-20 22:13:41,453][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.14 iterations per second over 30.00 seconds. +[2026-09-20 22:13:41,453][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003966 s, max step_time: 0.053583 s +[2026-09-20 22:13:43,645][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.97 Hz +[2026-09-20 22:13:44,346][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.91 iterations per second over 30.00 seconds. +[2026-09-20 22:13:44,346][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003938 s, max step_time: 0.009028 s +[2026-09-20 22:13:46,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.10 Hz +[2026-09-20 22:13:53,469][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:13:53,469][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:13:53,647][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.44 Hz +[2026-09-20 22:13:56,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.19 Hz +[2026-09-20 22:14:03,648][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.56 Hz +[2026-09-20 22:14:06,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.10 Hz +[2026-09-20 22:14:11,453][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.17 iterations per second over 30.00 seconds. +[2026-09-20 22:14:11,453][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003934 s, max step_time: 0.023901 s +[2026-09-20 22:14:13,648][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.30 Hz +[2026-09-20 22:14:14,348][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.55 iterations per second over 30.00 seconds. +[2026-09-20 22:14:14,348][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003898 s, max step_time: 0.020823 s +[2026-09-20 22:14:16,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.67 Hz +[2026-09-20 22:14:23,650][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.76 Hz +[2026-09-20 22:14:26,413][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.54 Hz +[2026-09-20 22:14:33,653][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.54 Hz +[2026-09-20 22:14:36,417][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.83 Hz +[2026-09-20 22:14:41,456][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.21 iterations per second over 30.00 seconds. +[2026-09-20 22:14:41,456][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003997 s, max step_time: 0.008180 s +[2026-09-20 22:14:43,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.93 Hz +[2026-09-20 22:14:44,349][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.73 iterations per second over 30.00 seconds. +[2026-09-20 22:14:44,350][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.004005 s, max step_time: 0.009218 s +[2026-09-20 22:14:46,416][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.28 Hz +[2026-09-20 22:14:53,658][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.81 Hz +[2026-09-20 22:14:56,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.25 Hz +[2026-09-20 22:14:56,946][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:14:56,946][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:15:03,659][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.49 Hz +[2026-09-20 22:15:06,420][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.46 Hz +[2026-09-20 22:15:11,458][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.85 iterations per second over 30.00 seconds. +[2026-09-20 22:15:11,458][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004002 s, max step_time: 0.030901 s +[2026-09-20 22:15:13,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.69 Hz +[2026-09-20 22:15:14,350][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.79 iterations per second over 30.00 seconds. +[2026-09-20 22:15:14,351][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003956 s, max step_time: 0.026946 s +[2026-09-20 22:15:16,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.86 Hz +[2026-09-20 22:15:23,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.00 Hz +[2026-09-20 22:15:26,423][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.65 Hz +[2026-09-20 22:15:33,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.57 Hz +[2026-09-20 22:15:36,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.38 Hz +[2026-09-20 22:15:41,458][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.67 iterations per second over 30.00 seconds. +[2026-09-20 22:15:41,458][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003881 s, max step_time: 0.008488 s +[2026-09-20 22:15:43,670][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.65 Hz +[2026-09-20 22:15:44,353][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.78 iterations per second over 30.00 seconds. +[2026-09-20 22:15:44,353][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003894 s, max step_time: 0.007989 s +[2026-09-20 22:15:46,426][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.94 Hz +[2026-09-20 22:15:53,670][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.10 Hz +[2026-09-20 22:15:56,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.97 Hz +[2026-09-20 22:16:03,672][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.06 Hz +[2026-09-20 22:16:06,430][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.23 Hz +[2026-09-20 22:16:07,683][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.98 iterations per second over 23.33 seconds. +[2026-09-20 22:16:07,689][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.24 iterations per second over 26.23 seconds. +[2026-09-20 22:16:09,867][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 22:16:09,868][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 22:16:09,868][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 22:16:09,868][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 22:16:09,868][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 22:16:09,868][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 22:16:09,868][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 22:16:09,868][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 22:16:09,868][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 22:16:09,869][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 22:16:09,869][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 22:16:09,869][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 22:16:09,869][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 22:16:09,869][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 22:16:09,869][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 22:16:09,869][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:16:09,870][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:16:09,870][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:16:09,870][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 22:16:09,870][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:16:09,871][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:09,882][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:09,894][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 22:16:09,905][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:09,916][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:09,927][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:09,938][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:09,949][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:09,960][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:09,971][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:09,982][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:09,993][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:10,003][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:10,014][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:10,025][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:10,036][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:10,047][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:10,058][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:10,069][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:10,079][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:10,090][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:10,101][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:10,101][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 22:16:10,101][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:16:10,101][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:10,156][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:10,210][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:10,264][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:10,317][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:10,371][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:10,425][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:10,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:10,479][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:16:10,479][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:10,479][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:16:10,490][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:16:10,495][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:16:10,502][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:16:10,508][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:16:10,514][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:16:10,520][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:16:10,526][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:16:10,532][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 22:16:10,532][root][INFO] - current_pos: [0.061226825360494175, -0.000953688868543523, 0.0024795910582131597, 0.019645990691996573, -0.17605096513313434, 0.03032730601968403, 0.007438773174639479] +[2026-09-20 22:16:10,532][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:16:10,532][root][INFO] - starting separate thread for control loop +[2026-09-20 22:16:10,633][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.061226825360494175, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789913770.6331403), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789913770.6331403), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=32.0, temp_rotor=35.0, timestamp=1789913770.6331403), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.019645990691996573, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1789913770.6331403), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.1764324406805482, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789913770.6331403), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.03032730601968403, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913770.6331403), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.007438773174639479, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913770.6331403)] +[2026-09-20 22:16:10,633][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:16:10,633][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0074 +[2026-09-20 22:16:10,633][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:16:11,262][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 22:16:11,562][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:16:12,189][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 22:16:12,489][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.007438773174643032) +[2026-09-20 22:16:12,489][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.00743877] +[2026-09-20 22:16:12,724][root][INFO] - initializing, .... +[2026-09-20 22:16:12,725][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:16:12,725][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:16:12,725][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:16:12,725][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:16:12,725][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:16:12,725][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:16:12,725][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:16:12,725][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:16:12,725][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:16:12,726][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:16:12,726][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:16:12,726][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:16:12,726][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 22:16:12,726][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:16:12,726][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:12,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:12,747][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:12,758][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:12,769][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:12,780][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:12,792][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:12,803][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:12,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:12,825][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:12,836][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:12,848][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:12,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:12,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:12,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:12,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:12,903][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:12,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:12,925][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:12,936][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:12,948][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:12,959][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:12,959][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 22:16:12,959][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:16:12,959][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:13,014][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:13,068][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:13,122][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:13,176][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:13,229][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:13,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:13,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:13,337][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:16:13,337][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:13,337][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:16:13,348][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:16:13,353][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:16:13,359][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:16:13,365][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:16:13,371][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:16:13,377][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:16:13,383][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:16:13,389][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 22:16:13,389][root][INFO] - current_pos: [0.019264515144579164, -0.0020981155107957505, 0.000953688868543523, 0.0005722133211261138, -0.042915999084458534, -0.010490577553978753, -0.0001907377737087046] +[2026-09-20 22:16:13,389][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:16:13,389][root][INFO] - starting separate thread for control loop +[2026-09-20 22:16:13,489][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=0.019264515144579164, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789913773.4895484), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789913773.4895484), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=35.0, timestamp=1789913773.4895484), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=40.0, timestamp=1789913773.4895484), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.042915999084458534, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789913773.4895484), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.010490577553978753, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913773.4895484), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.0005722133211296665, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789913773.4895484)] +[2026-09-20 22:16:13,489][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:16:13,489][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006 +[2026-09-20 22:16:13,489][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:16:14,161][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 22:16:14,461][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:16:15,079][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 22:16:15,379][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.273708705271993, -0.011253528648817124) +[2026-09-20 22:16:15,379][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27370871 -0.01125353] +[2026-09-20 22:16:15,506][root][INFO] - initializing, .... +[2026-09-20 22:16:22,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.08 Hz +[2026-09-20 22:16:25,512][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.03 Hz +[2026-09-20 22:16:31,561][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:16:31,561][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:16:32,730][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.74 Hz +[2026-09-20 22:16:33,786][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.89 iterations per second over 20.40 seconds. +[2026-09-20 22:16:33,792][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.48 iterations per second over 23.26 seconds. +[2026-09-20 22:16:49,932][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 22:16:49,933][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 22:16:49,933][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 22:16:49,933][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 22:16:49,933][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 22:16:49,933][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 22:16:49,933][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 22:16:49,933][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 22:16:49,933][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 22:16:49,934][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 22:16:49,934][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 22:16:49,934][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 22:16:49,934][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 22:16:49,934][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 22:16:49,934][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 22:16:49,934][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:16:49,935][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:16:49,935][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:16:49,935][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 22:16:49,935][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:16:49,936][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:49,947][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:49,958][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 22:16:49,970][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:49,981][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:49,991][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:50,003][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:50,014][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:50,025][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:50,036][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:50,047][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:50,058][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:50,069][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:50,081][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:50,092][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:50,103][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:50,114][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:50,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:50,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:50,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:50,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:50,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:50,170][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 22:16:50,170][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:16:50,170][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:50,225][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:50,280][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:50,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:50,392][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:50,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:50,501][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:50,557][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:50,557][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:16:50,557][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:50,557][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:16:50,568][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:16:50,573][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:16:50,580][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:16:50,588][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:16:50,594][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:16:50,601][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:16:50,606][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:16:50,614][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 22:16:50,614][root][INFO] - current_pos: [0.061226825360494175, -0.0001907377737087046, 0.0024795910582131597, 0.01621271076523989, -0.13790341039139342, 0.03032730601968403, 0.01583123521782248] +[2026-09-20 22:16:50,614][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:16:50,614][root][INFO] - starting separate thread for control loop +[2026-09-20 22:16:50,714][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=0.006837606837606813, pos=0.061226825360494175, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789913810.7146208), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789913810.7146208), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1789913810.7146208), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.01583123521782248, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1789913810.7146208), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.13790341039139342, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789913810.7146208), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.03070878156710144, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913810.7146208), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913810.7146208)] +[2026-09-20 22:16:50,715][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:16:50,715][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-20 22:16:50,715][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:16:51,401][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 22:16:51,701][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:16:52,331][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 22:16:52,631][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.007438773174639479) +[2026-09-20 22:16:52,631][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.00743877] +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 22:16:52,875][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 22:16:52,875][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 22:16:52,875][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 22:16:52,875][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:16:52,875][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:52,877][root][INFO] - initializing, .... +[2026-09-20 22:16:52,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:52,897][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:52,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:52,919][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:52,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:52,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:52,952][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 22:16:52,964][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:52,975][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 22:16:52,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:52,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:53,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:53,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:53,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:53,042][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:53,053][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:53,064][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:53,075][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:53,086][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 22:16:53,098][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 22:16:53,109][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 22:16:53,109][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 22:16:53,109][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 22:16:53,109][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:53,165][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:53,221][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:53,275][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 22:16:53,330][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:53,385][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:53,440][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:53,496][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 22:16:53,497][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 22:16:53,497][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 22:16:53,497][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 22:16:53,508][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 22:16:53,514][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 22:16:53,521][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 22:16:53,528][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 22:16:53,535][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 22:16:53,542][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 22:16:53,549][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 22:16:53,559][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 22:16:53,559][root][INFO] - current_pos: [0.03833829251544962, -0.0020981155107957505, 0.000953688868543523, 0.0001907377737087046, -0.023079270618753256, -0.06771190966659013, -0.000953688868543523] +[2026-09-20 22:16:53,559][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 22:16:53,559][root][INFO] - starting separate thread for control loop +[2026-09-20 22:16:53,660][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.03418803418803407, pos=0.03833829251544962, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789913813.6601815), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.03418803418803407, pos=-0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1789913813.6601815), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1789913813.6601815), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0001907377737087046, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1789913813.6601815), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.023079270618753256, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789913813.6601815), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06771190966659013, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789913813.6601815), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789913813.6601815)] +[2026-09-20 22:16:53,660][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 22:16:53,660][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-20 22:16:53,661][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 22:16:54,290][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-20 22:16:54,590][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 22:16:55,224][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 22:16:55,524][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.256160830090792, -0.013160906385900617) +[2026-09-20 22:16:55,525][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25616083 -0.01316091] +[2026-09-20 22:16:55,659][root][INFO] - initializing, .... +[2026-09-20 22:17:02,880][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.42 Hz +[2026-09-20 22:17:05,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.03 Hz +[2026-09-20 22:17:12,882][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.88 Hz +[2026-09-20 22:17:15,077][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:17:15,077][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 22:17:15,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.63 Hz +[2026-09-20 22:17:16,942][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.65 iterations per second over 23.38 seconds. +[2026-09-20 22:17:16,948][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.84 iterations per second over 26.33 seconds. diff --git a/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/runtime/output.lock b/eval/YAM/V3/pi05_v3_four_tasks_full_15000/put_baozi/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391