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"prometheus_raw_episode_v1", + "sensor_kind": "camera", + "sensor_name": "right_wrist_0", + "status": "saved", + "updated_at_unix": 1789571410.6150434 + } +} diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0014/manifests/event.json b/eval/YAM/V2/dp/banana_pick/data/round_0014/manifests/event.json new file mode 100644 index 0000000000000000000000000000000000000000..027d4b0b87465a50360ebd15bc59a43df3cd8465 --- /dev/null +++ b/eval/YAM/V2/dp/banana_pick/data/round_0014/manifests/event.json @@ -0,0 +1,27 @@ +{ + "prometheus_event_recorder": { + "counts": { + "action.executed": 608, + "camera.base_0_rgb": 900, + "camera.left_wrist_0_rgb": 901, + "camera.right_wrist_0_rgb": 902, + "dropped": 0, + "event.workflow": 1, + "items": 6957, + "robot.robot_state": 3645 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick/data/round_0014", + "event_samples": 1, + "failure": "", + "metadata": { + "round_number": 14, + "run_id": "20260916_225911_139508_round_0014", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_event_recorder", + "record_mode": "event", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789571410.6150434 + } +} diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0014/manifests/robot.json b/eval/YAM/V2/dp/banana_pick/data/round_0014/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..ff48a73caf9902e8b69d3072a3e79e6b4ed1a209 --- /dev/null +++ b/eval/YAM/V2/dp/banana_pick/data/round_0014/manifests/robot.json @@ -0,0 +1,36 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 608, + "camera.base_0_rgb": 900, + "camera.left_wrist_0_rgb": 901, + "camera.right_wrist_0_rgb": 902, + "dropped": 0, + "event.workflow": 1, + "items": 6957, + "robot.robot_state": 3645 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick/data/round_0014", + "failure": "", + "incomplete_robot_samples": { + "left": 3645, + "right": 3645 + }, + "metadata": { + "round_number": 14, + "run_id": "20260916_225911_139508_round_0014", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 3645, + "right": 3645 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789571410.6150434 + } +} diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0014/manifests/tactile.json b/eval/YAM/V2/dp/banana_pick/data/round_0014/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/dp/banana_pick/data/round_0014/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/dp/banana_pick/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/dp/banana_pick/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c01af60754bef6c862066edb184aba99a22c81e4 --- /dev/null +++ b/eval/YAM/V2/dp/banana_pick/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,244 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick + steps: 30 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 32 + prediction_horizon: 32 +policy: + host: 127.0.0.1 + port: 9016 + prompt: banana_pick + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 5.0 + task: banana_pick + expected_checkpoint_path: /home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt + history_tolerance_s: 0.015 + model: dp +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${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: + - 178.113964503 + - 247.518197236 + - 201.062710341 + - 412.295997642 + - 292.886498339 + - 681.801119417 + - 164.113917278 + - 267.740085544 + - 714.966739645 + - 836.862131179 + - 880.771530315 + - 543.256770374 + - 313.320489803 + - 313.35155152 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + 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: false + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 1.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 + sync_wait_after_ack: true +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: YAM V2 dp banana_pick - sync + 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/V2/dp/banana_pick/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/dp/banana_pick/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f6f3c176fdc0b4d7e7a7ea880628ce01d66d5f95 --- /dev/null +++ b/eval/YAM/V2/dp/banana_pick/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.model=dp + - policy.task=banana_pick + - policy.prompt=banana_pick + - policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt + - run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick + - async_inference.enabled=false + - preview.window=YAM V2 dp banana_pick - sync + job: + name: rollout + chdir: false + override_dirname: async_inference.enabled=false,execute=true,policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt,policy.model=dp,policy.prompt=banana_pick,policy.task=banana_pick,preview.window=YAM + V2 dp banana_pick - sync,run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick + id: ??? + num: ??? + config_name: yam_v2 + 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/yam_v2/dp/best-short/banana_pick/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/V2/dp/banana_pick/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/dp/banana_pick/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e9f4ddfcee133c682db5f1ed8f8e7d2b9b6a13cf --- /dev/null +++ b/eval/YAM/V2/dp/banana_pick/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.model=dp +- policy.task=banana_pick +- policy.prompt=banana_pick +- policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt +- run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick +- async_inference.enabled=false +- preview.window=YAM V2 dp banana_pick - sync diff --git a/eval/YAM/V2/dp/banana_pick/metadata/hydra/rollout.log b/eval/YAM/V2/dp/banana_pick/metadata/hydra/rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..43fc9fd9f2d737d4a0411e3310025d00e4744099 --- /dev/null +++ b/eval/YAM/V2/dp/banana_pick/metadata/hydra/rollout.log @@ -0,0 +1,1482 @@ +[2026-09-16 21:05:42,255][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:05:42,257][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:05:42,257][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:05:42,257][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:05:42,257][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:05:42,257][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:05:42,257][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:05:42,257][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:05:42,257][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:05:42,258][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:05:42,258][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:05:42,258][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:05:42,258][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:05:42,258][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:05:42,258][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:05:42,258][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} +[2026-09-16 21:05:42,259][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 +[2026-09-16 21:05:42,259][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 +[2026-09-16 21:05:42,259][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:05:42,259][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:05:42,259][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:05:42,259][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:05:42,259][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:05:42,259][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:05:42,259][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:05:42,259][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:05:42,259][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:05:42,259][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:05:42,259][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:05:42,259][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 +[2026-09-16 21:05:42,260][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:05:42,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:05:42,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:05:42,294][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:05:42,305][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:05:42,316][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:42,327][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:05:42,338][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:05:42,349][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:42,360][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:05:42,371][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:05:42,382][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:42,393][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:05:42,404][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:05:42,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:42,427][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:05:42,438][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:05:42,449][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:42,460][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:05:42,471][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:05:42,482][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:42,493][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:05:42,493][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:05:42,493][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 +[2026-09-16 21:05:42,494][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:05:42,548][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 +[2026-09-16 21:05:42,602][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 +[2026-09-16 21:05:42,656][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 +[2026-09-16 21:05:42,711][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 +[2026-09-16 21:05:42,765][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 +[2026-09-16 21:05:42,818][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 +[2026-09-16 21:05:42,872][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 +[2026-09-16 21:05:42,872][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) +[2026-09-16 21:05:42,872][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:05:42,872][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:05:42,883][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:05:42,888][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:05:42,894][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:05:42,900][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:05:42,906][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:05:42,912][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:05:42,919][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:05:42,926][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=-0.012210012210012167, 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)] +[2026-09-16 21:05:42,926][root][INFO] - current_pos: [0.023079270618753256, -0.000953688868543523, 0.0013351644159609322, 0.006675822079804661, -0.05092698558022413, 0.08640421149004318, 0.10128175783932214] +[2026-09-16 21:05:42,927][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:05:42,927][root][INFO] - starting separate thread for control loop +[2026-09-16 21:05:43,027][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=0.023079270618753256, voltage=-1, temp_mos=26.0, temp_rotor=23.0, timestamp=1789563943.0275447), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789563943.0275447), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789563943.0275447), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.006675822079804661, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789563943.0275447), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0366300366300365, eff=-0.017094017094017033, pos=-0.05092698558022413, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789563943.0275447), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.08640421149004318, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789563943.0275447), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.10128175783932214, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789563943.0275447)] +[2026-09-16 21:05:43,027][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:05:43,027][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.1013 +[2026-09-16 21:05:43,027][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:05:43,654][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 21:05:43,955][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:05:44,586][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:05:44,886][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.007057297627218517) +[2026-09-16 21:05:44,887][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 21:05:45,126][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 +[2026-09-16 21:05:45,126][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 +[2026-09-16 21:05:45,126][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:05:45,126][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:05:45,126][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:05:45,126][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:05:45,126][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:05:45,126][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:05:45,126][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:05:45,126][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:05:45,126][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:05:45,126][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:05:45,127][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:05:45,127][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 +[2026-09-16 21:05:45,127][root][INFO] - initializing, .... +[2026-09-16 21:05:45,127][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:05:45,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:05:45,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:45,161][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:05:45,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:05:45,183][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:45,194][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:05:45,206][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:05:45,217][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:45,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:05:45,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:05:45,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:45,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:05:45,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:05:45,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:45,294][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:05:45,305][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:05:45,316][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:45,327][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:05:45,338][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:05:45,349][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:05:45,360][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:05:45,360][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:05:45,360][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 +[2026-09-16 21:05:45,360][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:05:45,414][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 +[2026-09-16 21:05:45,468][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 +[2026-09-16 21:05:45,522][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 +[2026-09-16 21:05:45,575][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 +[2026-09-16 21:05:45,630][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 +[2026-09-16 21:05:45,685][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 +[2026-09-16 21:05:45,740][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 +[2026-09-16 21:05:45,741][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) +[2026-09-16 21:05:45,741][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:05:45,741][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:05:45,752][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:05:45,756][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:05:45,763][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:05:45,769][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:05:45,775][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:05:45,781][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:05:45,787][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:05:45,793][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=-0.07521367521367495, 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)] +[2026-09-16 21:05:45,793][root][INFO] - current_pos: [0.000953688868543523, -0.000953688868543523, 0.000953688868543523, 0.0005722133211261138, -0.005149919890135024, 0.0665674830243379, -0.004386968795300206] +[2026-09-16 21:05:45,793][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:05:45,793][root][INFO] - starting separate thread for control loop +[2026-09-16 21:05:45,894][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.04786324786324769, pos=0.0005722133211261138, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789563945.8944044), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.08888888888888857, pos=-0.0013351644159644849, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789563945.8944044), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789563945.8944044), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789563945.8944044), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.005149919890135024, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789563945.8944044), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0665674830243379, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789563945.8944044), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.004386968795300206, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789563945.8944044)] +[2026-09-16 21:05:45,894][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:05:45,894][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-16 21:05:45,894][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:05:46,511][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:05:46,811][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:05:47,425][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:05:47,725][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.280193789578089, -0.010490577553978753) +[2026-09-16 21:05:47,725][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28019379 -0.01049058] +[2026-09-16 21:05:47,854][root][INFO] - initializing, .... +[2026-09-16 21:05:55,131][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.34 Hz +[2026-09-16 21:05:57,861][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.52 Hz +[2026-09-16 21:06:04,588][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] +[2026-09-16 21:06:04,589][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] +[2026-09-16 21:06:05,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.20 Hz +[2026-09-16 21:06:07,863][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.06 Hz +[2026-09-16 21:06:12,928][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.86 iterations per second over 30.00 seconds. +[2026-09-16 21:06:12,928][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003863 s, max step_time: 0.064290 s +[2026-09-16 21:06:15,138][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.32 Hz +[2026-09-16 21:06:15,794][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.33 iterations per second over 30.00 seconds. +[2026-09-16 21:06:15,795][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003916 s, max step_time: 0.066328 s +[2026-09-16 21:06:17,865][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.76 Hz +[2026-09-16 21:06:25,141][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.31 Hz +[2026-09-16 21:06:27,867][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.43 Hz +[2026-09-16 21:06:33,872][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] +[2026-09-16 21:06:33,872][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] +[2026-09-16 21:06:35,142][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.25 Hz +[2026-09-16 21:06:37,868][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.67 Hz +[2026-09-16 21:06:42,930][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.88 iterations per second over 30.00 seconds. +[2026-09-16 21:06:42,930][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003908 s, max step_time: 0.020339 s +[2026-09-16 21:06:45,143][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.28 Hz +[2026-09-16 21:06:45,798][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.04 iterations per second over 30.00 seconds. +[2026-09-16 21:06:45,798][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003890 s, max step_time: 0.014448 s +[2026-09-16 21:06:47,870][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.78 Hz +[2026-09-16 21:06:55,145][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.33 Hz +[2026-09-16 21:06:57,872][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.54 Hz +[2026-09-16 21:07:05,148][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.95 Hz +[2026-09-16 21:07:07,876][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.08 Hz +[2026-09-16 21:07:12,932][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.62 iterations per second over 30.00 seconds. +[2026-09-16 21:07:12,932][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003852 s, max step_time: 0.007729 s +[2026-09-16 21:07:15,149][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.05 Hz +[2026-09-16 21:07:15,798][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.89 iterations per second over 30.00 seconds. +[2026-09-16 21:07:15,798][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003863 s, max step_time: 0.007907 s +[2026-09-16 21:07:17,879][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.84 Hz +[2026-09-16 21:07:25,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.51 Hz +[2026-09-16 21:07:27,883][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.40 Hz +[2026-09-16 21:07:35,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.76 Hz +[2026-09-16 21:07:37,886][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.40 Hz +[2026-09-16 21:07:42,935][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.84 iterations per second over 30.00 seconds. +[2026-09-16 21:07:42,935][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003849 s, max step_time: 0.007750 s +[2026-09-16 21:07:45,157][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.83 Hz +[2026-09-16 21:07:45,800][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.02 iterations per second over 30.00 seconds. +[2026-09-16 21:07:45,800][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003861 s, max step_time: 0.007159 s +[2026-09-16 21:07:47,887][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.68 Hz +[2026-09-16 21:07:55,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.77 Hz +[2026-09-16 21:07:57,889][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.43 Hz +[2026-09-16 21:08:05,161][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.44 Hz +[2026-09-16 21:08:07,893][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.60 Hz +[2026-09-16 21:08:12,936][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.16 iterations per second over 30.00 seconds. +[2026-09-16 21:08:15,163][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.35 Hz +[2026-09-16 21:08:15,800][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.03 iterations per second over 30.00 seconds. +[2026-09-16 21:08:17,894][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.97 Hz +[2026-09-16 21:08:19,745][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003863 s, max step_time: 0.007461 s +[2026-09-16 21:08:24,159][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.88 iterations per second over 8.36 seconds. +[2026-09-16 21:08:24,168][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.23 iterations per second over 11.23 seconds. +[2026-09-16 21:10:18,095][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:10:18,096][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:10:18,097][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:10:18,097][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:10:18,097][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:10:18,097][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:10:18,097][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:10:18,097][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:10:18,097][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:10:18,098][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:10:18,098][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:10:18,098][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:10:18,098][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:10:18,098][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:10:18,098][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:10:18,098][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} +[2026-09-16 21:10:18,099][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 +[2026-09-16 21:10:18,099][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 +[2026-09-16 21:10:18,099][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:10:18,099][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:10:18,099][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:10:18,099][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:10:18,099][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:10:18,099][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:10:18,099][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:10:18,099][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:10:18,099][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:10:18,099][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:10:18,099][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:10:18,099][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 +[2026-09-16 21:10:18,100][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:10:18,112][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:10:18,123][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:10:18,134][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:10:18,145][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:10:18,156][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:18,167][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:10:18,178][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:10:18,189][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:18,200][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:10:18,211][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:10:18,222][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:18,233][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:10:18,244][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:10:18,255][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:18,266][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:10:18,277][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:10:18,288][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:18,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:10:18,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:10:18,321][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:18,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:10:18,332][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:10:18,332][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 +[2026-09-16 21:10:18,333][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:10:18,388][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 +[2026-09-16 21:10:18,443][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 +[2026-09-16 21:10:18,499][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 +[2026-09-16 21:10:18,554][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 +[2026-09-16 21:10:18,610][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 +[2026-09-16 21:10:18,665][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 +[2026-09-16 21:10:18,720][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 +[2026-09-16 21:10:18,720][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) +[2026-09-16 21:10:18,721][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:10:18,721][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:10:18,732][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:10:18,738][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:10:18,744][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:10:18,750][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:10:18,757][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:10:18,764][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:10:18,771][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:10:18,778][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)] +[2026-09-16 21:10:18,778][root][INFO] - current_pos: [0.023079270618753256, -0.000953688868543523, 0.0017166399633783413, 0.0013351644159609322, -0.028419928282596985, 0.08335240711070391, -0.002861066605630569] +[2026-09-16 21:10:18,778][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:10:18,778][root][INFO] - starting separate thread for control loop +[2026-09-16 21:10:18,879][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.023079270618753256, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564218.8792717), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.0013351644159644849, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789564218.8792717), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789564218.8792717), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789564218.8792717), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.028419928282596985, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789564218.8792717), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.08335240711070391, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564218.8792717), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0032425421530444254, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564218.8792717)] +[2026-09-16 21:10:18,879][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:10:18,879][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0032 +[2026-09-16 21:10:18,879][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:10:19,500][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 21:10:19,800][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:10:20,427][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:10:20,727][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.00705729762722207) +[2026-09-16 21:10:20,727][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.0070573 ] +[2026-09-16 21:10:20,965][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 +[2026-09-16 21:10:20,965][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 +[2026-09-16 21:10:20,965][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:10:20,965][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:10:20,965][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:10:20,965][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:10:20,965][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:10:20,965][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:10:20,965][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:10:20,965][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:10:20,965][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:10:20,965][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:10:20,965][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:10:20,965][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 +[2026-09-16 21:10:20,965][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:10:20,967][root][INFO] - initializing, .... +[2026-09-16 21:10:20,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:10:20,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:20,999][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:10:21,010][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:10:21,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:21,032][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:10:21,043][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:10:21,054][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:21,065][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:10:21,076][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:10:21,088][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:21,099][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:10:21,111][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:10:21,122][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:21,133][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:10:21,145][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:10:21,156][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:21,167][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:10:21,178][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:10:21,189][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:10:21,200][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:10:21,201][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.24 s (7 motor(s)) +[2026-09-16 21:10:21,201][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 +[2026-09-16 21:10:21,201][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:10:21,256][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 +[2026-09-16 21:10:21,312][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 +[2026-09-16 21:10:21,368][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 +[2026-09-16 21:10:21,423][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 +[2026-09-16 21:10:21,478][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 +[2026-09-16 21:10:21,534][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 +[2026-09-16 21:10:21,589][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 +[2026-09-16 21:10:21,589][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) +[2026-09-16 21:10:21,590][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:10:21,590][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:10:21,601][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:10:21,607][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:10:21,613][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:10:21,619][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:10:21,625][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:10:21,631][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:10:21,637][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:10:21,643][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=-0.06153846153846132, 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)] +[2026-09-16 21:10:21,643][root][INFO] - current_pos: [0.002861066605630569, -0.0013351644159609322, 0.000953688868543523, 0.0001907377737087046, -0.023842221713588074, 0.09441519798580877, 0.014686808575570254] +[2026-09-16 21:10:21,643][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:10:21,643][root][INFO] - starting separate thread for control loop +[2026-09-16 21:10:21,744][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564221.7440407), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564221.7440407), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789564221.7440407), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789564221.7440407), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.023842221713588074, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789564221.7440407), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.09441519798580877, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564221.7440407), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.014686808575570254, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789564221.7440407)] +[2026-09-16 21:10:21,744][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:10:21,744][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0147 +[2026-09-16 21:10:21,744][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:10:22,410][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:10:22,710][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:10:23,330][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:10:23,631][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.010490577553978753) +[2026-09-16 21:10:23,631][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.01049058] +[2026-09-16 21:10:23,757][root][INFO] - initializing, .... +[2026-09-16 21:10:30,972][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.39 Hz +[2026-09-16 21:10:33,762][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.89 Hz +[2026-09-16 21:10:40,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.81 Hz +[2026-09-16 21:10:43,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.73 Hz +[2026-09-16 21:10:48,781][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.91 iterations per second over 30.00 seconds. +[2026-09-16 21:10:48,781][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003862 s, max step_time: 0.058936 s +[2026-09-16 21:10:50,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.04 Hz +[2026-09-16 21:10:51,645][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.82 iterations per second over 30.00 seconds. +[2026-09-16 21:10:51,645][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003878 s, max step_time: 0.062288 s +[2026-09-16 21:10:53,766][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.25 Hz +[2026-09-16 21:11:00,981][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.73 Hz +[2026-09-16 21:11:03,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.29 Hz +[2026-09-16 21:11:10,114][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] +[2026-09-16 21:11:10,114][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] +[2026-09-16 21:11:10,984][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.32 Hz +[2026-09-16 21:11:13,766][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.49 Hz +[2026-09-16 21:11:18,784][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.34 iterations per second over 30.00 seconds. +[2026-09-16 21:11:18,785][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003812 s, max step_time: 0.007327 s +[2026-09-16 21:11:20,984][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.98 Hz +[2026-09-16 21:11:21,647][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.15 iterations per second over 30.00 seconds. +[2026-09-16 21:11:21,647][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003815 s, max step_time: 0.007077 s +[2026-09-16 21:11:23,768][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.47 Hz +[2026-09-16 21:11:28,021][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.75 iterations per second over 6.37 seconds. +[2026-09-16 21:11:28,029][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.60 iterations per second over 9.24 seconds. +[2026-09-16 21:11:38,319][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:11:38,320][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:11:38,321][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:11:38,321][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:11:38,321][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:11:38,321][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:11:38,321][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:11:38,321][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:11:38,321][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:11:38,322][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:11:38,322][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:11:38,322][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:11:38,322][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:11:38,322][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:11:38,322][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:11:38,322][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} +[2026-09-16 21:11:38,323][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 +[2026-09-16 21:11:38,323][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 +[2026-09-16 21:11:38,323][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:11:38,323][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:11:38,323][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:11:38,323][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:11:38,323][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:11:38,323][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:11:38,323][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:11:38,323][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:11:38,323][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:11:38,323][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:11:38,323][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:11:38,323][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 +[2026-09-16 21:11:38,324][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:11:38,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:11:38,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:11:38,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:11:38,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:11:38,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:38,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:11:38,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:11:38,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:38,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:11:38,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:11:38,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:38,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:11:38,468][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:11:38,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:38,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:11:38,501][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:11:38,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:38,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:11:38,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:11:38,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:38,556][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:11:38,556][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:11:38,556][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 +[2026-09-16 21:11:38,557][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:11:38,612][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 +[2026-09-16 21:11:38,667][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 +[2026-09-16 21:11:38,722][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 +[2026-09-16 21:11:38,776][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 +[2026-09-16 21:11:38,830][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 +[2026-09-16 21:11:38,884][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 +[2026-09-16 21:11:38,938][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 +[2026-09-16 21:11:38,938][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) +[2026-09-16 21:11:38,938][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:11:38,938][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:11:38,949][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:11:38,954][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:11:38,961][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:11:38,967][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:11:38,973][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:11:38,978][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:11:38,984][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:11:38,990][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=-0.0073260073260073, 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)] +[2026-09-16 21:11:38,991][root][INFO] - current_pos: [0.023079270618753256, -0.000953688868543523, 0.0017166399633783413, 0.0001907377737087046, -0.017357137407492118, 0.08373388265812132, -0.002861066605630569] +[2026-09-16 21:11:38,991][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:11:38,991][root][INFO] - starting separate thread for control loop +[2026-09-16 21:11:39,091][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.023079270618753256, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564299.0915337), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789564299.0915337), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=28.0, temp_rotor=30.0, timestamp=1789564299.0915337), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=31.0, timestamp=1789564299.0915337), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.017357137407492118, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789564299.0915337), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.08335240711070391, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564299.0915337), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0032425421530444254, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564299.0915337)] +[2026-09-16 21:11:39,091][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:11:39,091][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0032 +[2026-09-16 21:11:39,091][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:11:39,766][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 21:11:40,066][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:11:40,699][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:11:40,999][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.278286411841002, -0.007057297627218517) +[2026-09-16 21:11:40,999][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27828641 -0.0070573 ] +[2026-09-16 21:11:41,232][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 +[2026-09-16 21:11:41,232][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 +[2026-09-16 21:11:41,233][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:11:41,233][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:11:41,233][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:11:41,233][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:11:41,233][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:11:41,233][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:11:41,233][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:11:41,233][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:11:41,233][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:11:41,233][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:11:41,233][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:11:41,233][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 +[2026-09-16 21:11:41,233][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:11:41,233][root][INFO] - initializing, .... +[2026-09-16 21:11:41,244][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:11:41,255][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:41,266][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:11:41,277][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:11:41,288][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:41,298][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:11:41,309][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:11:41,320][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:41,331][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:11:41,341][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:11:41,352][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:41,363][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:11:41,374][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:11:41,384][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:41,395][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:11:41,406][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:11:41,417][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:41,428][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:11:41,439][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:11:41,450][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:11:41,461][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:11:41,461][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:11:41,461][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 +[2026-09-16 21:11:41,461][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:11:41,515][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 +[2026-09-16 21:11:41,568][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 +[2026-09-16 21:11:41,622][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 +[2026-09-16 21:11:41,675][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 +[2026-09-16 21:11:41,730][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 +[2026-09-16 21:11:41,783][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 +[2026-09-16 21:11:41,837][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 +[2026-09-16 21:11:41,837][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) +[2026-09-16 21:11:41,837][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:11:41,837][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:11:41,848][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:11:41,853][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:11:41,859][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:11:41,865][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:11:41,871][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:11:41,877][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:11:41,883][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:11:41,889][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=-0.07521367521367495, 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)] +[2026-09-16 21:11:41,890][root][INFO] - current_pos: [-0.03490501258869294, -0.0013351644159609322, 0.000953688868543523, 0.002861066605630569, 0.02040894178683139, 0.08335240711070391, 0.024986648355840302] +[2026-09-16 21:11:41,890][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:11:41,890][root][INFO] - starting separate thread for control loop +[2026-09-16 21:11:41,990][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.03490501258869294, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564301.990407), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.08888888888888857, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789564301.990407), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789564301.990407), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.003242542153047978, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789564301.990407), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.02040894178683139, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789564301.990407), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0829709315632865, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564301.990407), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.024986648355840302, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789564301.990407)] +[2026-09-16 21:11:41,990][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:11:41,990][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0250 +[2026-09-16 21:11:41,990][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:11:42,654][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:11:42,954][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:11:43,566][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:11:43,866][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2920195315480285, -0.010872053101396162) +[2026-09-16 21:11:43,866][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.29201953 -0.01087205] +[2026-09-16 21:11:43,992][root][INFO] - initializing, .... +[2026-09-16 21:11:51,237][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.14 Hz +[2026-09-16 21:11:53,993][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.38 Hz +[2026-09-16 21:12:01,239][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.36 Hz +[2026-09-16 21:12:03,994][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.39 Hz +[2026-09-16 21:12:08,992][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.79 iterations per second over 30.00 seconds. +[2026-09-16 21:12:08,992][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003834 s, max step_time: 0.070419 s +[2026-09-16 21:12:11,239][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.97 Hz +[2026-09-16 21:12:11,893][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.97 iterations per second over 30.00 seconds. +[2026-09-16 21:12:11,893][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003876 s, max step_time: 0.071749 s +[2026-09-16 21:12:12,537][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] +[2026-09-16 21:12:12,537][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] +[2026-09-16 21:12:13,996][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.24 Hz +[2026-09-16 21:12:21,243][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.52 Hz +[2026-09-16 21:12:23,998][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.05 Hz +[2026-09-16 21:12:31,245][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.21 Hz +[2026-09-16 21:12:34,000][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.35 Hz +[2026-09-16 21:12:38,993][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.13 iterations per second over 30.00 seconds. +[2026-09-16 21:12:41,248][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.04 Hz +[2026-09-16 21:12:41,896][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.55 iterations per second over 30.00 seconds. +[2026-09-16 21:12:44,004][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.09 Hz +[2026-09-16 21:12:51,249][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.18 Hz +[2026-09-16 21:12:54,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.95 Hz +[2026-09-16 21:12:55,286][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003835 s, max step_time: 0.007326 s +[2026-09-16 21:13:01,250][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.26 Hz +[2026-09-16 21:13:04,010][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.92 Hz +[2026-09-16 21:13:07,746][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003827 s, max step_time: 0.007667 s +[2026-09-16 21:13:08,995][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.92 iterations per second over 30.00 seconds. +[2026-09-16 21:13:11,252][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.66 Hz +[2026-09-16 21:13:11,896][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.63 iterations per second over 30.00 seconds. +[2026-09-16 21:13:14,015][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.99 Hz +[2026-09-16 21:13:20,349][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] +[2026-09-16 21:13:20,349][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] +[2026-09-16 21:13:21,255][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.77 Hz +[2026-09-16 21:13:24,015][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.67 Hz +[2026-09-16 21:13:25,290][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003938 s, max step_time: 0.021907 s +[2026-09-16 21:13:31,253][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.99 Hz +[2026-09-16 21:13:34,019][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.79 Hz +[2026-09-16 21:13:37,749][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003916 s, max step_time: 0.020536 s +[2026-09-16 21:13:38,995][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.93 iterations per second over 30.00 seconds. +[2026-09-16 21:13:41,256][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.31 Hz +[2026-09-16 21:13:41,897][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.13 iterations per second over 30.00 seconds. +[2026-09-16 21:13:44,019][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.58 Hz +[2026-09-16 21:13:51,257][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.39 Hz +[2026-09-16 21:13:54,021][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.78 Hz +[2026-09-16 21:13:55,949][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.88 iterations per second over 14.05 seconds. +[2026-09-16 21:13:55,958][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.46 iterations per second over 16.96 seconds. +[2026-09-16 21:13:59,360][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:13:59,361][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:13:59,361][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:13:59,361][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:13:59,361][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:13:59,361][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:13:59,361][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:13:59,361][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:13:59,361][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:13:59,362][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:13:59,362][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:13:59,362][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:13:59,362][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:13:59,362][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:13:59,362][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:13:59,362][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} +[2026-09-16 21:13:59,363][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 +[2026-09-16 21:13:59,363][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 +[2026-09-16 21:13:59,363][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:13:59,363][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:13:59,363][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:13:59,363][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:13:59,363][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:13:59,363][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:13:59,363][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:13:59,363][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:13:59,363][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:13:59,363][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:13:59,363][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:13:59,363][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 +[2026-09-16 21:13:59,364][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:13:59,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:13:59,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:13:59,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:13:59,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:13:59,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:13:59,431][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:13:59,441][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:13:59,452][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:13:59,463][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:13:59,474][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:13:59,485][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:13:59,496][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:13:59,507][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:13:59,518][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:13:59,529][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:13:59,540][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:13:59,551][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:13:59,562][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:13:59,573][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:13:59,584][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:13:59,595][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:13:59,595][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:13:59,595][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 +[2026-09-16 21:13:59,596][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:13:59,651][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 +[2026-09-16 21:13:59,705][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 +[2026-09-16 21:13:59,759][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 +[2026-09-16 21:13:59,813][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 +[2026-09-16 21:13:59,867][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 +[2026-09-16 21:13:59,920][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 +[2026-09-16 21:13:59,974][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 +[2026-09-16 21:13:59,974][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) +[2026-09-16 21:13:59,974][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:13:59,974][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:13:59,985][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:13:59,990][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:13:59,996][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:14:00,002][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:14:00,008][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:14:00,014][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:14:00,020][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:14:00,026][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=0.0024420024420024333, 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)] +[2026-09-16 21:14:00,026][root][INFO] - current_pos: [0.023079270618753256, -0.000953688868543523, 0.0017166399633783413, -0.0001907377737087046, -0.002861066605630569, 0.08335240711070391, -0.002861066605630569] +[2026-09-16 21:14:00,026][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:14:00,026][root][INFO] - starting separate thread for control loop +[2026-09-16 21:14:00,127][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.03418803418803407, pos=0.023079270618753256, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564440.12741), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789564440.12741), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=32.0, timestamp=1789564440.12741), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=33.0, timestamp=1789564440.12741), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.002861066605630569, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789564440.12741), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.08335240711070391, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564440.12741), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.002861066605630569, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564440.12741)] +[2026-09-16 21:14:00,127][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:14:00,127][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-16 21:14:00,127][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:14:00,756][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 21:14:01,057][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:14:01,685][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:14:01,985][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.007057297627218517) +[2026-09-16 21:14:01,985][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-16 21:14:02,220][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 +[2026-09-16 21:14:02,220][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 +[2026-09-16 21:14:02,220][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:14:02,221][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:14:02,221][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:14:02,221][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:14:02,221][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:14:02,221][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:14:02,221][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:14:02,221][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:14:02,221][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:14:02,221][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:14:02,221][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:14:02,221][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 +[2026-09-16 21:14:02,221][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:14:02,221][root][INFO] - initializing, .... +[2026-09-16 21:14:02,232][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:14:02,243][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:14:02,253][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:14:02,264][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:14:02,275][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:14:02,286][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:14:02,297][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:14:02,308][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:14:02,318][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:14:02,329][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:14:02,340][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:14:02,351][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:14:02,362][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:14:02,373][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:14:02,384][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:14:02,395][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:14:02,406][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:14:02,417][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:14:02,428][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:14:02,438][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:14:02,449][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:14:02,449][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:14:02,449][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 +[2026-09-16 21:14:02,449][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:14:02,503][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 +[2026-09-16 21:14:02,557][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 +[2026-09-16 21:14:02,610][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 +[2026-09-16 21:14:02,664][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 +[2026-09-16 21:14:02,718][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 +[2026-09-16 21:14:02,772][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 +[2026-09-16 21:14:02,826][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 +[2026-09-16 21:14:02,826][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) +[2026-09-16 21:14:02,826][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:14:02,826][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:14:02,837][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:14:02,842][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:14:02,848][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:14:02,854][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:14:02,860][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:14:02,866][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:14:02,872][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:14:02,878][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=-0.08888888888888857, 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)] +[2026-09-16 21:14:02,878][root][INFO] - current_pos: [0.005531395437552433, -0.0013351644159609322, 0.000953688868543523, 0.004386968795300206, -0.06809338521400754, 0.1287479972533756, -0.004386968795300206] +[2026-09-16 21:14:02,878][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:14:02,878][root][INFO] - starting separate thread for control loop +[2026-09-16 21:14:02,978][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.005531395437552433, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564442.9786625), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.03174603174603163, eff=-0.08888888888888857, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789564442.9786625), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=30.0, timestamp=1789564442.9786625), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.004386968795300206, voltage=-1, temp_mos=29.0, temp_rotor=32.0, timestamp=1789564442.9786625), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=-0.06809338521400754, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789564442.9786625), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.1287479972533756, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564442.9786625), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.004005493247879244, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789564442.9786625)] +[2026-09-16 21:14:02,978][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:14:02,978][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0040 +[2026-09-16 21:14:02,978][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:14:03,600][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:14:03,900][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:14:04,521][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:14:04,821][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2519645990692005, -0.010490577553982305) +[2026-09-16 21:14:04,822][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2519646 -0.01049058] +[2026-09-16 21:14:04,955][root][INFO] - initializing, .... +[2026-09-16 21:14:12,224][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.59 Hz +[2026-09-16 21:14:14,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.54 Hz +[2026-09-16 21:14:22,225][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.69 Hz +[2026-09-16 21:14:24,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.34 Hz +[2026-09-16 21:14:30,030][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.20 iterations per second over 30.00 seconds. +[2026-09-16 21:14:30,031][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003949 s, max step_time: 0.082081 s +[2026-09-16 21:14:32,227][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.33 Hz +[2026-09-16 21:14:32,879][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.39 iterations per second over 30.00 seconds. +[2026-09-16 21:14:32,879][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003993 s, max step_time: 0.082078 s +[2026-09-16 21:14:34,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.88 Hz +[2026-09-16 21:14:42,228][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.96 Hz +[2026-09-16 21:14:44,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.60 Hz +[2026-09-16 21:14:48,172][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] +[2026-09-16 21:14:48,172][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] +[2026-09-16 21:14:52,228][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.00 Hz +[2026-09-16 21:14:54,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.57 Hz +[2026-09-16 21:15:00,032][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.62 iterations per second over 30.00 seconds. +[2026-09-16 21:15:00,032][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003867 s, max step_time: 0.025840 s +[2026-09-16 21:15:01,102][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.14 iterations per second over 28.22 seconds. +[2026-09-16 21:15:01,109][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.08 iterations per second over 1.08 seconds. +[2026-09-16 22:52:03,774][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 22:52:03,775][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 22:52:03,775][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 22:52:03,775][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 22:52:03,775][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 22:52:03,775][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 22:52:03,775][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 22:52:03,775][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 22:52:03,775][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 22:52:03,776][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 22:52:03,776][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 22:52:03,776][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 22:52:03,776][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 22:52:03,776][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 22:52:03,776][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 22:52:03,776][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} +[2026-09-16 22:52:03,777][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 +[2026-09-16 22:52:03,777][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 +[2026-09-16 22:52:03,777][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:52:03,777][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:52:03,777][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:52:03,777][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:52:03,777][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:52:03,777][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:52:03,777][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:52:03,777][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:52:03,777][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:52:03,777][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:52:03,777][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 22:52:03,777][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 +[2026-09-16 22:52:03,778][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:52:03,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:52:03,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 22:52:03,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:52:03,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:52:03,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:03,847][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:52:03,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:52:03,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:03,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:52:03,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:52:03,903][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:03,915][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:52:03,926][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:52:03,937][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:03,948][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:52:03,959][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:52:03,970][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:03,981][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:52:03,993][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:52:04,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:04,015][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:52:04,015][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-16 22:52:04,015][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 +[2026-09-16 22:52:04,015][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:52:04,070][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 +[2026-09-16 22:52:04,126][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 +[2026-09-16 22:52:04,181][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 +[2026-09-16 22:52:04,236][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 +[2026-09-16 22:52:04,292][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 +[2026-09-16 22:52:04,347][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 +[2026-09-16 22:52:04,402][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 +[2026-09-16 22:52:04,402][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) +[2026-09-16 22:52:04,403][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:52:04,403][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:52:04,414][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:52:04,419][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:52:04,427][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:52:04,433][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:52:04,439][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:52:04,447][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:52:04,453][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:52:04,459][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=-0.0024420024420024333, 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)] +[2026-09-16 22:52:04,460][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0017166399633783413, 0.000953688868543523, -0.0207904173342488, -0.060463874265659356, -0.002861066605630569] +[2026-09-16 22:52:04,460][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:52:04,460][root][INFO] - starting separate thread for control loop +[2026-09-16 22:52:04,560][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.02051282051282044, pos=-0.004386968795303758, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789570324.5607727), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=27.0, timestamp=1789570324.5607727), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789570324.5607727), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789570324.5607727), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0207904173342488, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789570324.5607727), 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=1789570324.5607727), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.002861066605630569, voltage=-1, temp_mos=30.0, temp_rotor=27.0, timestamp=1789570324.5607727)] +[2026-09-16 22:52:04,561][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:52:04,561][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-16 22:52:04,561][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:52:05,182][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 22:52:05,483][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:52:06,111][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 22:52:06,411][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.271419851987488, -0.00705729762722207) +[2026-09-16 22:52:06,411][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27141985 -0.0070573 ] +[2026-09-16 22:52:06,646][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 +[2026-09-16 22:52:06,646][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 +[2026-09-16 22:52:06,647][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:52:06,647][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:52:06,647][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:52:06,647][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:52:06,647][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:52:06,647][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:52:06,647][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:52:06,647][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:52:06,647][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:52:06,647][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:52:06,647][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 22:52:06,647][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 +[2026-09-16 22:52:06,647][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:52:06,649][root][INFO] - initializing, .... +[2026-09-16 22:52:06,658][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:52:06,669][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:06,680][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:52:06,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:52:06,701][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:06,712][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:52:06,723][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:52:06,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:06,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:52:06,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:52:06,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:06,776][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:52:06,787][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:52:06,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:06,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:52:06,819][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:52:06,830][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:06,841][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:52:06,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:52:06,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:52:06,873][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:52:06,874][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 22:52:06,874][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 +[2026-09-16 22:52:06,874][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:52:06,927][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 +[2026-09-16 22:52:06,981][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 +[2026-09-16 22:52:07,035][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 +[2026-09-16 22:52:07,088][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 +[2026-09-16 22:52:07,142][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 +[2026-09-16 22:52:07,196][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 +[2026-09-16 22:52:07,249][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 +[2026-09-16 22:52:07,249][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) +[2026-09-16 22:52:07,250][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:52:07,250][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:52:07,260][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:52:07,266][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:52:07,272][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:52:07,278][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:52:07,284][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:52:07,290][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:52:07,296][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:52:07,304][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=-0.06153846153846132, 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)] +[2026-09-16 22:52:07,305][root][INFO] - current_pos: [-0.07572289616235572, -0.0013351644159609322, 0.0005722133211261138, 0.00705729762722207, -0.09250782024872173, 0.06809338521400754, 0.7558937972075999] +[2026-09-16 22:52:07,305][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:52:07,305][root][INFO] - starting separate thread for control loop +[2026-09-16 22:52:07,405][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=-0.07572289616235572, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789570327.405541), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0009536888685399703, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789570327.405541), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.03174603174603163, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789570327.405541), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.007438773174639479, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1789570327.405541), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.09212634470130787, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789570327.405541), 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=1789570327.405541), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.7558937972075999, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789570327.405541)] +[2026-09-16 22:52:07,405][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:52:07,405][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.7559 +[2026-09-16 22:52:07,405][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:52:08,074][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-16 22:52:08,374][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:52:08,996][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 22:52:09,296][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253109025711453, -0.010490577553982305) +[2026-09-16 22:52:09,296][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25310903 -0.01049058] +[2026-09-16 22:52:09,429][root][INFO] - initializing, .... +[2026-09-16 22:52:16,652][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.41 Hz +[2026-09-16 22:52:19,431][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.48 Hz +[2026-09-16 22:52:26,654][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.58 Hz +[2026-09-16 22:52:29,434][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.51 Hz +[2026-09-16 22:52:34,463][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.37 iterations per second over 30.00 seconds. +[2026-09-16 22:52:34,463][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003946 s, max step_time: 0.074711 s +[2026-09-16 22:52:36,656][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.12 Hz +[2026-09-16 22:52:37,308][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.47 iterations per second over 30.00 seconds. +[2026-09-16 22:52:37,308][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004008 s, max step_time: 0.069678 s +[2026-09-16 22:52:39,437][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.04 Hz +[2026-09-16 22:52:45,988][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] +[2026-09-16 22:52:45,988][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] +[2026-09-16 22:52:46,656][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.18 Hz +[2026-09-16 22:52:49,437][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.58 Hz +[2026-09-16 22:52:56,659][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.41 Hz +[2026-09-16 22:52:59,438][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.19 Hz +[2026-09-16 22:53:04,465][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.69 iterations per second over 30.00 seconds. +[2026-09-16 22:53:04,465][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003911 s, max step_time: 0.035050 s +[2026-09-16 22:53:06,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.77 Hz +[2026-09-16 22:53:07,310][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.92 iterations per second over 30.00 seconds. +[2026-09-16 22:53:07,310][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003907 s, max step_time: 0.031247 s +[2026-09-16 22:53:09,440][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.40 Hz +[2026-09-16 22:53:16,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.45 Hz +[2026-09-16 22:53:19,440][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.19 Hz +[2026-09-16 22:53:26,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.50 Hz +[2026-09-16 22:53:29,440][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.28 Hz +[2026-09-16 22:53:34,465][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.10 iterations per second over 30.00 seconds. +[2026-09-16 22:53:34,465][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004047 s, max step_time: 0.008904 s +[2026-09-16 22:53:36,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.67 Hz +[2026-09-16 22:53:37,312][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.25 iterations per second over 30.00 seconds. +[2026-09-16 22:53:37,312][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004045 s, max step_time: 0.010192 s +[2026-09-16 22:53:39,440][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.99 Hz +[2026-09-16 22:53:46,671][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.43 Hz +[2026-09-16 22:53:49,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.54 Hz +[2026-09-16 22:53:53,818][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] +[2026-09-16 22:53:53,819][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] +[2026-09-16 22:53:56,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.53 Hz +[2026-09-16 22:53:59,444][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.77 Hz +[2026-09-16 22:54:04,466][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.66 iterations per second over 30.00 seconds. +[2026-09-16 22:54:04,466][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003958 s, max step_time: 0.054502 s +[2026-09-16 22:54:06,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.21 Hz +[2026-09-16 22:54:07,315][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.14 iterations per second over 30.00 seconds. +[2026-09-16 22:54:07,315][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003935 s, max step_time: 0.047259 s +[2026-09-16 22:54:09,444][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.78 Hz +[2026-09-16 22:54:16,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.90 Hz +[2026-09-16 22:54:19,445][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.27 Hz +[2026-09-16 22:54:26,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.65 Hz +[2026-09-16 22:54:29,447][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.75 Hz +[2026-09-16 22:54:34,467][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.36 iterations per second over 30.00 seconds. +[2026-09-16 22:54:34,467][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003994 s, max step_time: 0.009626 s +[2026-09-16 22:54:36,680][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.07 Hz +[2026-09-16 22:54:37,317][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.55 iterations per second over 30.00 seconds. +[2026-09-16 22:54:37,317][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.004023 s, max step_time: 0.009466 s +[2026-09-16 22:54:39,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.87 Hz +[2026-09-16 22:54:46,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.51 Hz +[2026-09-16 22:54:49,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.30 Hz +[2026-09-16 22:54:56,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.77 Hz +[2026-09-16 22:54:59,451][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.83 Hz +[2026-09-16 22:55:04,470][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.01 iterations per second over 30.00 seconds. +[2026-09-16 22:55:04,470][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.004016 s, max step_time: 0.031425 s +[2026-09-16 22:55:05,712][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] +[2026-09-16 22:55:05,712][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] +[2026-09-16 22:55:06,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.79 Hz +[2026-09-16 22:55:07,321][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.17 iterations per second over 30.00 seconds. +[2026-09-16 22:55:07,321][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003981 s, max step_time: 0.028695 s +[2026-09-16 22:55:09,451][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.90 Hz +[2026-09-16 22:55:16,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.09 Hz +[2026-09-16 22:55:19,454][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.11 Hz +[2026-09-16 22:55:26,688][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.75 Hz +[2026-09-16 22:55:29,455][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.98 Hz +[2026-09-16 22:55:34,473][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.04 iterations per second over 30.00 seconds. +[2026-09-16 22:55:34,473][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003846 s, max step_time: 0.007682 s +[2026-09-16 22:55:36,691][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.73 Hz +[2026-09-16 22:55:37,322][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.86 iterations per second over 30.00 seconds. +[2026-09-16 22:55:37,322][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003863 s, max step_time: 0.007832 s +[2026-09-16 22:55:39,457][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.46 Hz +[2026-09-16 22:55:46,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.82 Hz +[2026-09-16 22:55:49,460][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.74 Hz +[2026-09-16 22:55:56,697][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.35 Hz +[2026-09-16 22:55:59,462][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.15 Hz +[2026-09-16 22:56:04,474][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.39 iterations per second over 30.00 seconds. +[2026-09-16 22:56:04,474][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003870 s, max step_time: 0.012581 s +[2026-09-16 22:56:06,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.71 Hz +[2026-09-16 22:56:07,324][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.18 iterations per second over 30.00 seconds. +[2026-09-16 22:56:07,324][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003888 s, max step_time: 0.011235 s +[2026-09-16 22:56:09,465][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.12 Hz +[2026-09-16 22:56:16,700][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.96 Hz +[2026-09-16 22:56:19,468][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.41 Hz +[2026-09-16 22:56:26,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.61 Hz +[2026-09-16 22:56:29,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.33 Hz +[2026-09-16 22:56:34,477][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.34 iterations per second over 30.00 seconds. +[2026-09-16 22:56:34,477][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003871 s, max step_time: 0.010870 s +[2026-09-16 22:56:36,706][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.23 Hz +[2026-09-16 22:56:37,324][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.16 iterations per second over 30.00 seconds. +[2026-09-16 22:56:37,324][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003873 s, max step_time: 0.009813 s +[2026-09-16 22:56:39,473][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.54 Hz +[2026-09-16 22:56:46,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.30 Hz +[2026-09-16 22:56:49,474][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.99 Hz +[2026-09-16 22:56:56,712][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.35 Hz +[2026-09-16 22:56:59,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.94 Hz +[2026-09-16 22:57:04,480][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.37 iterations per second over 30.00 seconds. +[2026-09-16 22:57:04,480][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 84 times, mean step_time: 0.003931 s, max step_time: 0.014256 s +[2026-09-16 22:57:06,714][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.00 Hz +[2026-09-16 22:57:07,325][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.56 iterations per second over 30.00 seconds. +[2026-09-16 22:57:07,326][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 86 times, mean step_time: 0.003960 s, max step_time: 0.016482 s +[2026-09-16 22:57:09,479][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.02 Hz +[2026-09-16 22:57:16,713][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.20 Hz +[2026-09-16 22:57:19,480][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.57 Hz +[2026-09-16 22:57:26,713][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.78 Hz +[2026-09-16 22:57:29,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.26 Hz +[2026-09-16 22:57:34,480][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.23 iterations per second over 30.00 seconds. +[2026-09-16 22:57:34,480][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 151 times, mean step_time: 0.004061 s, max step_time: 0.027988 s +[2026-09-16 22:57:36,714][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.09 Hz +[2026-09-16 22:57:37,326][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.83 iterations per second over 30.00 seconds. +[2026-09-16 22:57:37,331][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 144 times, mean step_time: 0.004051 s, max step_time: 0.031798 s +[2026-09-16 22:57:39,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.49 Hz +[2026-09-16 22:57:45,641][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] +[2026-09-16 22:57:45,641][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] +[2026-09-16 22:57:46,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.77 Hz +[2026-09-16 22:57:49,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.93 Hz +[2026-09-16 22:57:56,724][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.63 Hz +[2026-09-16 22:57:59,488][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.82 Hz +[2026-09-16 22:58:04,481][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.62 iterations per second over 30.00 seconds. +[2026-09-16 22:58:04,481][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 87 times, mean step_time: 0.004006 s, max step_time: 0.041945 s +[2026-09-16 22:58:06,724][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.27 Hz +[2026-09-16 22:58:07,329][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.34 iterations per second over 30.00 seconds. +[2026-09-16 22:58:07,333][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 82 times, mean step_time: 0.004011 s, max step_time: 0.044832 s +[2026-09-16 22:58:09,492][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.81 Hz +[2026-09-16 22:58:16,725][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 +[2026-09-16 22:58:19,496][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.72 Hz +[2026-09-16 22:58:26,729][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.33 Hz +[2026-09-16 22:58:29,495][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.79 Hz +[2026-09-16 22:58:34,486][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.10 iterations per second over 30.00 seconds. +[2026-09-16 22:58:34,486][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004063 s, max step_time: 0.008914 s +[2026-09-16 22:58:36,092][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] +[2026-09-16 22:58:36,092][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] +[2026-09-16 22:58:36,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.50 Hz +[2026-09-16 22:58:37,332][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.31 iterations per second over 30.00 seconds. +[2026-09-16 22:58:37,336][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004043 s, max step_time: 0.074644 s +[2026-09-16 22:58:39,497][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.17 Hz +[2026-09-16 22:58:46,729][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.50 Hz +[2026-09-16 22:58:49,498][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.26 Hz +[2026-09-16 22:58:56,731][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.53 Hz +[2026-09-16 22:58:59,501][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.71 Hz +[2026-09-16 22:59:04,486][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.13 iterations per second over 30.00 seconds. +[2026-09-16 22:59:04,486][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003800 s, max step_time: 0.025915 s +[2026-09-16 22:59:06,732][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.70 Hz +[2026-09-16 22:59:07,333][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 265.76 iterations per second over 30.00 seconds. +[2026-09-16 22:59:09,504][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.72 Hz +[2026-09-16 22:59:09,825][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 277.69 iterations per second over 2.49 seconds. +[2026-09-16 22:59:09,832][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 272.35 iterations per second over 5.35 seconds. +[2026-09-16 22:59:11,467][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 22:59:11,468][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 22:59:11,468][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 22:59:11,468][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 22:59:11,469][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 22:59:11,469][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 22:59:11,469][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 22:59:11,469][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 22:59:11,469][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 22:59:11,470][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 22:59:11,470][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 22:59:11,470][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 22:59:11,470][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 22:59:11,470][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 22:59:11,470][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 22:59:11,470][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} +[2026-09-16 22:59:11,470][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 +[2026-09-16 22:59:11,471][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 +[2026-09-16 22:59:11,471][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:59:11,471][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:59:11,471][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:59:11,471][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:59:11,471][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:59:11,471][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:59:11,471][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:59:11,471][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:59:11,471][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:59:11,471][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:59:11,471][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 22:59:11,471][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 +[2026-09-16 22:59:11,472][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:59:11,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:59:11,494][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 22:59:11,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:59:11,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:59:11,527][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:11,539][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:59:11,550][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:59:11,561][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:11,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:59:11,583][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:59:11,594][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:11,605][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:59:11,617][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:59:11,628][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:11,639][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:59:11,650][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:59:11,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:11,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:59:11,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:59:11,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:11,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:59:11,705][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 22:59:11,705][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 +[2026-09-16 22:59:11,706][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:59:11,761][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 +[2026-09-16 22:59:11,817][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 +[2026-09-16 22:59:11,871][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 +[2026-09-16 22:59:11,925][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 +[2026-09-16 22:59:11,979][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 +[2026-09-16 22:59:12,033][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 +[2026-09-16 22:59:12,087][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 +[2026-09-16 22:59:12,087][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) +[2026-09-16 22:59:12,087][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:59:12,087][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:59:12,098][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:59:12,103][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:59:12,110][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:59:12,116][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:59:12,122][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:59:12,128][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:59:12,134][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:59:12,140][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=0.012210012210012167, 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)] +[2026-09-16 22:59:12,140][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0013351644159609322, 0.0013351644159609322, -0.0207904173342488, -0.06504158083466827, -0.002861066605630569] +[2026-09-16 22:59:12,140][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:59:12,140][root][INFO] - starting separate thread for control loop +[2026-09-16 22:59:12,241][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=-0.0040054932478827965, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789570752.2410672), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789570752.2410672), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=40.0, timestamp=1789570752.2410672), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=40.0, timestamp=1789570752.2410672), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.0207904173342488, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789570752.2410672), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.06504158083466827, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789570752.2410672), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.002861066605630569, voltage=-1, temp_mos=30.0, temp_rotor=27.0, timestamp=1789570752.2410672)] +[2026-09-16 22:59:12,241][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:59:12,241][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-16 22:59:12,241][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:59:12,862][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 22:59:13,163][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:59:13,786][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 22:59:14,087][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.274853131914245, -0.00705729762722207) +[2026-09-16 22:59:14,087][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27485313 -0.0070573 ] +[2026-09-16 22:59:14,330][root][INFO] - initializing, .... +[2026-09-16 22:59:14,331][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 +[2026-09-16 22:59:14,331][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 +[2026-09-16 22:59:14,331][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:59:14,331][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:59:14,331][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:59:14,331][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:59:14,331][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:59:14,331][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:59:14,331][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:59:14,331][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:59:14,331][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:59:14,331][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:59:14,331][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 22:59:14,331][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 +[2026-09-16 22:59:14,332][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:59:14,343][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:59:14,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:14,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:59:14,377][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:59:14,388][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:14,399][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:59:14,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:59:14,421][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:14,432][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:59:14,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:59:14,455][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:14,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:59:14,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:59:14,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:14,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:59:14,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:59:14,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:14,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:59:14,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:59:14,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:59:14,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:59:14,566][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.24 s (7 motor(s)) +[2026-09-16 22:59:14,566][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 +[2026-09-16 22:59:14,567][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:59:14,621][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 +[2026-09-16 22:59:14,676][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 +[2026-09-16 22:59:14,731][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 +[2026-09-16 22:59:14,785][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 +[2026-09-16 22:59:14,839][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 +[2026-09-16 22:59:14,892][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 +[2026-09-16 22:59:14,947][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 +[2026-09-16 22:59:14,948][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) +[2026-09-16 22:59:14,948][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:59:14,948][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:59:14,959][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:59:14,964][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:59:14,970][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:59:14,976][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:59:14,982][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:59:14,989][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:59:14,995][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:59:15,001][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=-0.06153846153846132, 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)] +[2026-09-16 22:59:15,001][root][INFO] - current_pos: [-0.008583199816891707, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, -0.04520485236896299, 0.033379110399023304, -0.0005722133211261138] +[2026-09-16 22:59:15,001][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:59:15,001][root][INFO] - starting separate thread for control loop +[2026-09-16 22:59:15,102][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=-0.008583199816891707, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789570755.1021366), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789570755.1021366), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1789570755.1021366), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789570755.1021366), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.04520485236896299, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789570755.1021366), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.033379110399023304, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789570755.1021366), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789570755.1021366)] +[2026-09-16 22:59:15,102][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:59:15,102][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006 +[2026-09-16 22:59:15,102][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:59:15,774][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-16 22:59:16,075][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:59:16,683][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 22:59:16,983][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.275997558556497, -0.010872053101396162) +[2026-09-16 22:59:16,983][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27599756 -0.01087205] +[2026-09-16 22:59:17,112][root][INFO] - initializing, .... +[2026-09-16 22:59:24,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.71 Hz +[2026-09-16 22:59:27,116][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.00 Hz +[2026-09-16 22:59:34,337][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.70 Hz +[2026-09-16 22:59:37,119][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.42 Hz +[2026-09-16 22:59:42,142][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.78 iterations per second over 30.00 seconds. +[2026-09-16 22:59:42,142][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003955 s, max step_time: 0.066944 s +[2026-09-16 22:59:44,341][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.62 Hz +[2026-09-16 22:59:45,004][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.91 iterations per second over 30.00 seconds. +[2026-09-16 22:59:45,005][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.004017 s, max step_time: 0.066903 s +[2026-09-16 22:59:47,119][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.20 Hz +[2026-09-16 22:59:54,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.44 Hz +[2026-09-16 22:59:57,124][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.62 Hz +[2026-09-16 23:00:00,823][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] +[2026-09-16 23:00:00,823][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] +[2026-09-16 23:00:04,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.04 Hz +[2026-09-16 23:00:07,124][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.30 Hz +[2026-09-16 23:00:12,147][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.60 iterations per second over 30.00 seconds. +[2026-09-16 23:00:12,147][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.004006 s, max step_time: 0.035917 s +[2026-09-16 23:00:14,347][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.49 Hz +[2026-09-16 23:00:15,006][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.95 iterations per second over 30.00 seconds. +[2026-09-16 23:00:15,006][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.004017 s, max step_time: 0.046194 s +[2026-09-16 23:00:17,126][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.97 Hz +[2026-09-16 23:00:24,347][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.66 Hz +[2026-09-16 23:00:27,126][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.34 Hz +[2026-09-16 23:00:34,349][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.34 Hz +[2026-09-16 23:00:37,127][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.57 Hz +[2026-09-16 23:00:41,622][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] +[2026-09-16 23:00:41,622][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] +[2026-09-16 23:00:42,149][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.31 iterations per second over 30.00 seconds. +[2026-09-16 23:00:42,149][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.004060 s, max step_time: 0.026732 s +[2026-09-16 23:00:44,352][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.14 Hz +[2026-09-16 23:00:45,007][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.73 iterations per second over 30.00 seconds. +[2026-09-16 23:00:45,007][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004020 s, max step_time: 0.034638 s +[2026-09-16 23:00:47,130][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.66 Hz +[2026-09-16 23:00:54,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.69 Hz +[2026-09-16 23:00:57,130][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.89 Hz +[2026-09-16 23:01:04,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.07 Hz +[2026-09-16 23:01:07,130][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.08 Hz +[2026-09-16 23:01:12,153][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.20 iterations per second over 30.00 seconds. +[2026-09-16 23:01:12,153][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003965 s, max step_time: 0.010517 s +[2026-09-16 23:01:14,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.73 Hz +[2026-09-16 23:01:15,010][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.31 iterations per second over 30.00 seconds. +[2026-09-16 23:01:15,010][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003979 s, max step_time: 0.009845 s +[2026-09-16 23:01:17,133][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.83 Hz +[2026-09-16 23:01:24,260][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] +[2026-09-16 23:01:24,260][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] +[2026-09-16 23:01:24,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.98 Hz +[2026-09-16 23:01:27,135][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.94 Hz +[2026-09-16 23:01:34,359][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.95 Hz +[2026-09-16 23:01:37,137][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.95 Hz +[2026-09-16 23:01:42,157][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.00 iterations per second over 30.00 seconds. +[2026-09-16 23:01:42,157][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003984 s, max step_time: 0.028084 s +[2026-09-16 23:01:44,363][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.01 Hz +[2026-09-16 23:01:45,014][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.20 iterations per second over 30.00 seconds. +[2026-09-16 23:01:45,014][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003981 s, max step_time: 0.040716 s +[2026-09-16 23:01:47,137][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.10 Hz +[2026-09-16 23:01:54,366][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.42 Hz +[2026-09-16 23:01:57,140][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.54 Hz +[2026-09-16 23:02:04,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.90 Hz +[2026-09-16 23:02:07,140][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.28 Hz +[2026-09-16 23:02:09,979][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] +[2026-09-16 23:02:09,979][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] +[2026-09-16 23:02:12,159][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.42 iterations per second over 30.00 seconds. +[2026-09-16 23:02:12,159][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.004026 s, max step_time: 0.028681 s +[2026-09-16 23:02:14,371][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 +[2026-09-16 23:02:15,017][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.47 iterations per second over 30.00 seconds. +[2026-09-16 23:02:15,017][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003992 s, max step_time: 0.028754 s +[2026-09-16 23:02:17,144][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.60 Hz +[2026-09-16 23:02:24,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.18 Hz +[2026-09-16 23:02:27,147][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.44 Hz +[2026-09-16 23:02:34,375][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.23 Hz +[2026-09-16 23:02:37,149][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.63 Hz +[2026-09-16 23:02:42,161][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.52 iterations per second over 30.00 seconds. +[2026-09-16 23:02:42,161][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004008 s, max step_time: 0.035462 s +[2026-09-16 23:02:44,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.22 Hz +[2026-09-16 23:02:45,018][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.23 iterations per second over 30.00 seconds. +[2026-09-16 23:02:45,018][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004029 s, max step_time: 0.039536 s +[2026-09-16 23:02:47,150][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.19 Hz +[2026-09-16 23:02:54,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.02 Hz +[2026-09-16 23:02:57,150][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.09 Hz +[2026-09-16 23:03:01,490][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] +[2026-09-16 23:03:01,490][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] +[2026-09-16 23:03:04,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.69 Hz +[2026-09-16 23:03:07,152][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.35 Hz +[2026-09-16 23:03:12,163][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.98 iterations per second over 30.00 seconds. +[2026-09-16 23:03:12,163][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 74 times, mean step_time: 0.003969 s, max step_time: 0.022465 s +[2026-09-16 23:03:14,385][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.61 Hz +[2026-09-16 23:03:15,020][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.68 iterations per second over 30.00 seconds. +[2026-09-16 23:03:15,020][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 76 times, mean step_time: 0.003973 s, max step_time: 0.032574 s +[2026-09-16 23:03:17,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.83 Hz +[2026-09-16 23:03:24,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.37 Hz +[2026-09-16 23:03:27,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.49 Hz +[2026-09-16 23:03:34,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.58 Hz +[2026-09-16 23:03:37,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.41 Hz +[2026-09-16 23:03:42,165][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.48 iterations per second over 30.00 seconds. +[2026-09-16 23:03:42,165][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 163 times, mean step_time: 0.004057 s, max step_time: 0.017787 s +[2026-09-16 23:03:44,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.70 Hz +[2026-09-16 23:03:45,020][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.13 iterations per second over 30.00 seconds. +[2026-09-16 23:03:45,020][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 158 times, mean step_time: 0.004030 s, max step_time: 0.017209 s +[2026-09-16 23:03:47,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.53 Hz +[2026-09-16 23:03:53,000][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] +[2026-09-16 23:03:53,000][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] +[2026-09-16 23:03:54,390][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.33 Hz +[2026-09-16 23:03:57,165][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.71 Hz +[2026-09-16 23:04:04,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.03 Hz +[2026-09-16 23:04:07,165][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.20 Hz +[2026-09-16 23:04:12,165][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.23 iterations per second over 30.00 seconds. +[2026-09-16 23:04:12,165][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 124 times, mean step_time: 0.003965 s, max step_time: 0.040735 s +[2026-09-16 23:04:14,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.79 Hz +[2026-09-16 23:04:15,023][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.48 iterations per second over 30.00 seconds. +[2026-09-16 23:04:15,023][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 97 times, mean step_time: 0.003961 s, max step_time: 0.064648 s +[2026-09-16 23:04:17,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.91 Hz +[2026-09-16 23:04:24,393][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.39 Hz +[2026-09-16 23:04:27,170][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.26 Hz +[2026-09-16 23:04:34,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.29 Hz +[2026-09-16 23:04:37,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.96 Hz +[2026-09-16 23:04:42,166][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.72 iterations per second over 30.00 seconds. +[2026-09-16 23:04:42,167][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 158 times, mean step_time: 0.004053 s, max step_time: 0.013793 s +[2026-09-16 23:04:44,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.49 Hz +[2026-09-16 23:04:45,025][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.82 iterations per second over 30.00 seconds. +[2026-09-16 23:04:45,025][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 166 times, mean step_time: 0.004052 s, max step_time: 0.015920 s +[2026-09-16 23:04:47,174][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.55 Hz +[2026-09-16 23:04:52,764][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] +[2026-09-16 23:04:52,764][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] +[2026-09-16 23:04:54,396][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.35 Hz +[2026-09-16 23:04:57,174][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.39 Hz +[2026-09-16 23:05:04,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.68 Hz +[2026-09-16 23:05:07,178][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.41 Hz +[2026-09-16 23:05:12,168][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.69 iterations per second over 30.00 seconds. +[2026-09-16 23:05:12,168][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 67 times, mean step_time: 0.003926 s, max step_time: 0.034004 s +[2026-09-16 23:05:14,400][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.03 Hz +[2026-09-16 23:05:15,026][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.39 iterations per second over 30.00 seconds. +[2026-09-16 23:05:15,026][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 64 times, mean step_time: 0.003931 s, max step_time: 0.032248 s +[2026-09-16 23:05:17,179][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.78 Hz +[2026-09-16 23:05:24,402][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.96 Hz +[2026-09-16 23:05:27,182][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.82 Hz +[2026-09-16 23:05:34,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.11 Hz +[2026-09-16 23:05:37,185][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.72 Hz +[2026-09-16 23:05:42,173][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.06 iterations per second over 30.00 seconds. +[2026-09-16 23:05:42,173][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 62 times, mean step_time: 0.004064 s, max step_time: 0.011936 s +[2026-09-16 23:05:44,406][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.28 Hz +[2026-09-16 23:05:45,029][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.20 iterations per second over 30.00 seconds. +[2026-09-16 23:05:45,030][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 55 times, mean step_time: 0.004062 s, max step_time: 0.011040 s +[2026-09-16 23:05:45,713][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] +[2026-09-16 23:05:45,713][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] +[2026-09-16 23:05:47,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.12 Hz +[2026-09-16 23:05:54,407][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.89 Hz +[2026-09-16 23:05:57,190][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.23 Hz +[2026-09-16 23:06:04,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.20 Hz +[2026-09-16 23:06:07,193][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.25 Hz +[2026-09-16 23:06:12,176][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.20 iterations per second over 30.00 seconds. +[2026-09-16 23:06:12,176][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003965 s, max step_time: 0.066810 s +[2026-09-16 23:06:14,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.45 Hz +[2026-09-16 23:06:15,031][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.55 iterations per second over 30.00 seconds. +[2026-09-16 23:06:15,031][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003975 s, max step_time: 0.060214 s +[2026-09-16 23:06:17,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.79 Hz +[2026-09-16 23:06:24,413][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.69 Hz +[2026-09-16 23:06:27,196][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.93 Hz +[2026-09-16 23:06:34,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.08 Hz +[2026-09-16 23:06:37,140][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] +[2026-09-16 23:06:37,140][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] +[2026-09-16 23:06:37,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.38 Hz +[2026-09-16 23:06:42,178][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.75 iterations per second over 30.00 seconds. +[2026-09-16 23:06:42,179][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.004053 s, max step_time: 0.026580 s +[2026-09-16 23:06:44,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.20 Hz +[2026-09-16 23:06:45,032][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.36 iterations per second over 30.00 seconds. +[2026-09-16 23:06:45,032][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.004010 s, max step_time: 0.023899 s +[2026-09-16 23:06:47,199][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.47 Hz +[2026-09-16 23:06:54,419][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.38 Hz +[2026-09-16 23:06:57,200][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.06 Hz +[2026-09-16 23:07:04,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.41 Hz +[2026-09-16 23:07:07,203][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.71 Hz +[2026-09-16 23:07:12,182][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.24 iterations per second over 30.00 seconds. +[2026-09-16 23:07:12,182][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.003949 s, max step_time: 0.010446 s +[2026-09-16 23:07:14,426][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.85 Hz +[2026-09-16 23:07:15,035][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.18 iterations per second over 30.00 seconds. +[2026-09-16 23:07:15,035][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003981 s, max step_time: 0.009053 s +[2026-09-16 23:07:17,206][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.93 Hz +[2026-09-16 23:07:24,426][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.39 Hz +[2026-09-16 23:07:27,207][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 +[2026-09-16 23:07:34,428][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.63 Hz +[2026-09-16 23:07:37,210][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.59 Hz +[2026-09-16 23:07:42,183][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 245.06 iterations per second over 30.00 seconds. +[2026-09-16 23:07:42,183][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.004081 s, max step_time: 0.036300 s +[2026-09-16 23:07:44,429][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.28 Hz +[2026-09-16 23:07:45,035][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.16 iterations per second over 30.00 seconds. +[2026-09-16 23:07:45,035][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.004030 s, max step_time: 0.028811 s +[2026-09-16 23:07:47,209][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.35 Hz +[2026-09-16 23:07:50,949][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] +[2026-09-16 23:07:50,949][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] +[2026-09-16 23:07:54,432][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.41 Hz +[2026-09-16 23:07:57,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.44 Hz +[2026-09-16 23:08:04,434][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.26 Hz +[2026-09-16 23:08:07,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.57 Hz +[2026-09-16 23:08:12,185][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.25 iterations per second over 30.00 seconds. +[2026-09-16 23:08:12,186][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003843 s, max step_time: 0.011335 s +[2026-09-16 23:08:14,438][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.82 Hz +[2026-09-16 23:08:15,040][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.56 iterations per second over 30.01 seconds. +[2026-09-16 23:08:15,043][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003868 s, max step_time: 0.011624 s +[2026-09-16 23:08:17,215][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.95 Hz +[2026-09-16 23:08:24,440][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.66 Hz +[2026-09-16 23:08:27,217][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.04 Hz +[2026-09-16 23:08:34,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.14 Hz +[2026-09-16 23:08:37,220][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.64 Hz +[2026-09-16 23:08:42,189][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 244.57 iterations per second over 30.00 seconds. +[2026-09-16 23:08:42,189][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 80 times, mean step_time: 0.004089 s, max step_time: 0.011876 s +[2026-09-16 23:08:44,444][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.93 Hz +[2026-09-16 23:08:45,042][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.36 iterations per second over 30.00 seconds. +[2026-09-16 23:08:45,045][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 74 times, mean step_time: 0.004059 s, max step_time: 0.012640 s +[2026-09-16 23:08:46,931][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] +[2026-09-16 23:08:46,931][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] +[2026-09-16 23:08:47,222][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.65 Hz +[2026-09-16 23:08:54,445][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.48 Hz +[2026-09-16 23:08:57,223][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.99 Hz +[2026-09-16 23:09:04,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.95 Hz +[2026-09-16 23:09:07,225][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.73 Hz +[2026-09-16 23:09:12,190][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.82 iterations per second over 30.00 seconds. +[2026-09-16 23:09:12,190][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 106 times, mean step_time: 0.003987 s, max step_time: 0.035436 s +[2026-09-16 23:09:14,450][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.04 Hz +[2026-09-16 23:09:15,045][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.41 iterations per second over 30.00 seconds. +[2026-09-16 23:09:15,049][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 101 times, mean step_time: 0.003994 s, max step_time: 0.063378 s +[2026-09-16 23:09:17,228][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.84 Hz +[2026-09-16 23:09:24,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.89 Hz +[2026-09-16 23:09:27,231][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.82 Hz +[2026-09-16 23:09:33,358][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] +[2026-09-16 23:09:33,358][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] +[2026-09-16 23:09:34,451][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.69 Hz +[2026-09-16 23:09:37,232][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.37 Hz +[2026-09-16 23:09:42,193][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.44 iterations per second over 30.00 seconds. +[2026-09-16 23:09:42,194][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 131 times, mean step_time: 0.003993 s, max step_time: 0.070729 s +[2026-09-16 23:09:44,454][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.12 Hz +[2026-09-16 23:09:45,049][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.43 iterations per second over 30.00 seconds. +[2026-09-16 23:09:45,053][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 130 times, mean step_time: 0.003977 s, max step_time: 0.082410 s +[2026-09-16 23:09:47,234][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.45 Hz +[2026-09-16 23:09:54,457][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.43 Hz +[2026-09-16 23:09:57,238][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.12 Hz +[2026-09-16 23:10:04,466][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.58 Hz +[2026-09-16 23:10:07,240][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.22 Hz +[2026-09-16 23:10:10,457][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] +[2026-09-16 23:10:10,458][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] +[2026-09-16 23:10:12,196][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.54 iterations per second over 30.00 seconds. +[2026-09-16 23:10:12,196][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 140 times, mean step_time: 0.004040 s, max step_time: 0.045883 s +[2026-09-16 23:10:14,467][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.88 Hz +[2026-09-16 23:10:15,052][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.54 iterations per second over 30.00 seconds. +[2026-09-16 23:10:15,056][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 143 times, mean step_time: 0.004023 s, max step_time: 0.034930 s +[2026-09-16 23:10:17,243][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 +[2026-09-16 23:10:24,469][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.25 Hz +[2026-09-16 23:10:27,245][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.97 Hz +[2026-09-16 23:10:30,561][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.74 iterations per second over 15.51 seconds. +[2026-09-16 23:10:30,568][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.44 iterations per second over 18.37 seconds. diff --git a/eval/YAM/V2/dp/banana_pick/metadata/runtime/output.lock 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0, + "event.workflow": 1, + "items": 6677, + "robot.robot_state": 3552 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0005", + "failure": "", + "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", + "round_number": 5, + "run_id": "20260916_214305_166859_round_0005", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_camera_right_wrist_0_recorder", + "record_mode": "sensor", + "schema": "prometheus_raw_episode_v1", + "sensor_kind": "camera", + "sensor_name": "right_wrist_0", + "status": "saved", + "updated_at_unix": 1789566220.8955984 + } +} diff --git a/eval/YAM/V2/dp/open_baozi/data/round_0005/manifests/event.json b/eval/YAM/V2/dp/open_baozi/data/round_0005/manifests/event.json new file mode 100644 index 0000000000000000000000000000000000000000..f9219259bb7f981fd2efecf072f4ee5b089f799f --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/data/round_0005/manifests/event.json @@ -0,0 +1,28 @@ +{ + "prometheus_event_recorder": { + "counts": { + "action.executed": 544, + "camera.base_0_rgb": 858, + "camera.left_wrist_0_rgb": 860, + "camera.right_wrist_0_rgb": 862, + "dropped": 0, + "event.workflow": 1, + "items": 6677, + "robot.robot_state": 3552 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0005", + "event_samples": 1, + "failure": "", + "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", + "round_number": 5, + "run_id": "20260916_214305_166859_round_0005", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_event_recorder", + "record_mode": "event", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789566220.8955984 + } +} diff --git a/eval/YAM/V2/dp/open_baozi/data/round_0005/manifests/robot.json b/eval/YAM/V2/dp/open_baozi/data/round_0005/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..a29751f202951585f304fca0b27ce969cdaf0505 --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/data/round_0005/manifests/robot.json @@ -0,0 +1,37 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 544, + "camera.base_0_rgb": 858, + "camera.left_wrist_0_rgb": 860, + "camera.right_wrist_0_rgb": 862, + "dropped": 0, + "event.workflow": 1, + "items": 6677, + "robot.robot_state": 3552 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0005", + "failure": "", + "incomplete_robot_samples": { + "left": 3552, + "right": 3552 + }, + "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", + "round_number": 5, + "run_id": "20260916_214305_166859_round_0005", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 3552, + "right": 3552 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789566220.8955984 + } +} diff --git a/eval/YAM/V2/dp/open_baozi/data/round_0005/manifests/tactile.json b/eval/YAM/V2/dp/open_baozi/data/round_0005/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/data/round_0005/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/dp/open_baozi/data/round_0005/workflow_manifest.json b/eval/YAM/V2/dp/open_baozi/data/round_0005/workflow_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..94aad24086d81fa3d2849aa30170f1eef0508d05 --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/data/round_0005/workflow_manifest.json @@ -0,0 +1,1496 @@ +{ + "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 + ], + "actions_sent": 544, + "awaiting_failure_shutdown": false, + "chunks": 17, + "cleanup_errors": [], + "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 + ], + "config": { + "async_inference": { + "blend_steps": 5, + "enabled": false, + "prefetch_steps": 12 + }, + "data": { + "bridge": { + "enabled": 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"schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789567741.5796852 + } +} diff --git a/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/camera.json b/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/camera.json new file mode 100644 index 0000000000000000000000000000000000000000..221186f4ccce39fa6d8948fdde5f80d5de427b70 --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/camera.json @@ -0,0 +1,101 @@ +{ + "prometheus_camera_base_0_recorder": { + "camera_frames": { + "base_0_rgb": 989 + }, + "camera_timestamp_samples": 989, + "complete_sensor_bundles": 989, + "counts": { + "action.executed": 608, + "camera.base_0_rgb": 989, + "camera.left_wrist_0_rgb": 984, + "camera.right_wrist_0_rgb": 980, + "dropped": 0, + "event.workflow": 1, + "items": 7563, + "robot.robot_state": 4001 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0012", + "failure": "", + "metadata": { + "round_number": 12, + "run_id": "20260916_215916_346116_round_0012", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_camera_base_0_recorder", + "record_mode": "sensor", + "schema": "prometheus_raw_episode_v1", + "sensor_kind": "camera", + "sensor_name": "base_0", + "status": "saved", + "updated_at_unix": 1789567741.5796852 + }, + "prometheus_camera_left_wrist_0_recorder": { + "camera_frames": { + "left_wrist_0_rgb": 984 + }, + "camera_timestamp_samples": 984, + "complete_sensor_bundles": 984, + "counts": { + "action.executed": 608, + "camera.base_0_rgb": 989, + "camera.left_wrist_0_rgb": 984, + "camera.right_wrist_0_rgb": 980, + "dropped": 0, + "event.workflow": 1, + "items": 7563, + "robot.robot_state": 4001 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0012", + "failure": "", + "metadata": { + "round_number": 12, + "run_id": "20260916_215916_346116_round_0012", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_camera_left_wrist_0_recorder", + "record_mode": "sensor", + "schema": "prometheus_raw_episode_v1", + "sensor_kind": "camera", + "sensor_name": "left_wrist_0", + "status": "saved", + "updated_at_unix": 1789567741.5796852 + }, + "prometheus_camera_right_wrist_0_recorder": { + "camera_frames": { + "right_wrist_0_rgb": 980 + }, + "camera_timestamp_samples": 980, + "complete_sensor_bundles": 980, + "counts": { + "action.executed": 608, + "camera.base_0_rgb": 989, + "camera.left_wrist_0_rgb": 984, + "camera.right_wrist_0_rgb": 980, + "dropped": 0, + "event.workflow": 1, + "items": 7563, + "robot.robot_state": 4001 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0012", + "failure": "", + "metadata": { + "round_number": 12, + "run_id": "20260916_215916_346116_round_0012", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_camera_right_wrist_0_recorder", + "record_mode": "sensor", + "schema": "prometheus_raw_episode_v1", + "sensor_kind": "camera", + "sensor_name": "right_wrist_0", + "status": "saved", + "updated_at_unix": 1789567741.5796852 + } +} diff --git a/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/event.json b/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/event.json new file mode 100644 index 0000000000000000000000000000000000000000..529df6fdc118d77e6de03533799ca19d02fb6b89 --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/event.json @@ -0,0 +1,27 @@ +{ + "prometheus_event_recorder": { + "counts": { + "action.executed": 608, + "camera.base_0_rgb": 989, + "camera.left_wrist_0_rgb": 984, + "camera.right_wrist_0_rgb": 980, + "dropped": 0, + "event.workflow": 1, + "items": 7563, + "robot.robot_state": 4001 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0012", + "event_samples": 1, + "failure": "", + "metadata": { + "round_number": 12, + "run_id": "20260916_215916_346116_round_0012", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_event_recorder", + "record_mode": "event", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789567741.5796852 + } +} diff --git a/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/robot.json b/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..f87e73c751fe827aaaa9c8bfd772349c3bb2e7a1 --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/robot.json @@ -0,0 +1,36 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 608, + "camera.base_0_rgb": 989, + "camera.left_wrist_0_rgb": 984, + "camera.right_wrist_0_rgb": 980, + "dropped": 0, + "event.workflow": 1, + "items": 7563, + "robot.robot_state": 4001 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0012", + "failure": "", + "incomplete_robot_samples": { + "left": 4001, + "right": 4001 + }, + "metadata": { + "round_number": 12, + "run_id": "20260916_215916_346116_round_0012", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 4001, + "right": 4001 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789567741.5796852 + } +} diff --git a/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/tactile.json b/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/data/round_0012/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/dp/open_baozi/data/round_0012/workflow_manifest.json b/eval/YAM/V2/dp/open_baozi/data/round_0012/workflow_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..402e6f024e26d730060c8635a470bedef2ce5fd8 --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/data/round_0012/workflow_manifest.json @@ -0,0 +1,1497 @@ +{ + "acceleration_limits": [ + 178.113964503, + 247.518197236, + 201.062710341, + 412.295997642, + 292.886498339, + 681.801119417, + 164.113917278, + 267.740085544, + 714.966739645, + 836.862131179, + 880.771530315, + 543.256770374, + 313.320489803, + 313.35155152 + ], + "actions_sent": 608, + "awaiting_failure_shutdown": false, + "chunks": 19, + "cleanup_errors": [], + "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 + ], + "config": { + "async_inference": { + "blend_steps": 5, + "enabled": false, + "prefetch_steps": 12 + }, + "data": { + "bridge": { + "enabled": true, + "name": "openpi_observe_20260916_215916_346116", + "qos_depth": 10, + "sensor_qos": "reliable", + "stamp_source": "header", + "wait_all_streams": true + }, + "history": 64, + "mode": "owned", + "name": "openpi_data", + "numpy": { + "enabled": true + }, + "recording": { + "camera_encoder": "libx264", + "default_event_value": null, + "enable_plots": false, + "enabled": true, + "fps": 30.0, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data", + "queue_size": 4096 + }, + "streams": { + "base_0_color": { + "domain": "sensor", + "msg_type": "sensor_msgs.msg.Image", + "ros_domain_id": 22, + "topic": "/prometheus/sensors/cameras/base_0/color/image_raw" + }, + "left_wrist_0_color": { + "domain": "sensor", + "msg_type": "sensor_msgs.msg.Image", + "ros_domain_id": 22, + "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw" + }, + "right_wrist_0_color": { + "domain": "sensor", + "msg_type": "sensor_msgs.msg.Image", + "ros_domain_id": 22, + "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw" + }, + "robot_state": { + "domain": "robot", + "msg_type": "sensor_msgs.msg.JointState", + "ros_domain_id": 21, + "topic": "/prometheus/robots/yam/state" + } + } + }, + "execute": true, + "execution": { + "command_ack_timeout_s": 0.1, + "hold_settle_s": 0.2, + "hold_settle_timeout_s": 5.0, + "max_prediction_age_s": 1.5, + "max_schedule_lateness_s": 0.105, + "sync_wait_after_ack": true + }, + "hardware": { + "mode": "owned", + "name": "openpi_hardware", + "sensors": "auto", + "streams": "auto" + }, + "policy": { + "action_hz": 30.0, + "connect_timeout_s": 10.0, + "expected_checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/open_baozi/best-short.pt", + "history_tolerance_s": 0.015, + "host": "127.0.0.1", + "max_observation_age_s": 0.5, + "model": "dp", + "observation_wait_timeout_s": 1.0, + "port": 9016, + "prompt": "open_baozi", + "response_timeout_s": 5.0, + "slop_ms": 20.0, + "task": "open_baozi" + }, + "preview": { + "enabled": true, + "fps": 20.0, + "height": 720, + "host": "127.0.0.1", + "mode": "local", + "port": 7860, + "refresh_ms": 100, + "stale_timeout_s": 1.0, + "ui_mode": "openpi", + "width": 1280, + "window": "YAM V2 dp open_baozi - sync" + }, + "robot": { + "_target_": "prometheus.nodes.robots.yam.resolve_robot", + "cameras": { + "camera_info": false, + "capture_height": 480, + "capture_hz": 30, + "capture_width": 640, + "collect_ir": false, + "ir": false, + "prepub_resize": 1.0, + "publish_hz": 30, + "qos": "reliable", + "serial_no": { + "base_0": "260322272085", + "left_wrist_0": "260422275825", + "right_wrist_0": "260322279382" + } + }, + "collection_input_source": "pedal,tty", + "collection_pedal": { + "confirm_presses": 2, + "confirm_window_s": 1.0, + "debounce_s": 0.05, + "devices": [ + "/dev/input/prometheus-pedal", + "/dev/input/prometheus-pedal-aux" + ], + "exclusive": true, + "pedal_map": { + "2": 0, + "3": 1, + "4": 2, + "5": 3, + "30": 0, + "32": 3, + "46": 2, + "48": 1 + } + }, + "control_domain_id": 21, + "id": "yam", + "robot": { + "action_space": "abs_qpos", + "alignment_duration_s": 3.0, + "bilateral_kp": 0.0, + "collection_mode": "policy", + "control_hz": 120, + "enable_auto_recovery": false, + "follower_arm": "yam_ultra", + "follower_can": { + "left": "can_follower_l", + "right": "can_follower_r" + }, + "follower_gripper": "linear_4310", + "gripper_width_m": 0.096, + "home_return": { + "enabled": false, + "feedback_timeout_s": 0.5, + "kp_scale": 1.0, + "max_velocity": 0.3, + "min_duration_s": 3.0, + "position_tolerance": 0.05, + "settle_s": 0.3, + "timeout_s": 25.0, + "tracking_error_limit": 0.35, + "velocity_tolerance": 0.1 + }, + "leader_arm": "yam", + "leader_can": null, + "leader_gripper": "yam_teaching_handle", + "policy_control": { + "acceleration_limits": [ + 178.113964503, + 247.518197236, + 201.062710341, + 412.295997642, + 292.886498339, + 681.801119417, + 164.113917278, + 267.740085544, + 714.966739645, + 836.862131179, + 880.771530315, + 543.256770374, + 313.320489803, + 313.35155152 + ], + "command_timeout_s": 0.25, + "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 + ], + "feedback_timeout_s": 0.2, + "hz": 30.0, + 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1.2993822544813156, + 8.664541969299316, + 10.73633671760559, + 14.77633719921112, + 17.380879168510436, + 20.799341225624083, + 7.747032866477967, + 1.3316887146234513 + ] + }, + "require_enable_button": false, + "sim": false, + "state_publish_hz": 120, + "teleoperation_enabled": false + }, + "sensor_domain_id": 22 + }, + "ros": { + "localhost_only": true + }, + "run": { + "action_steps": 32, + "id": "20260916_215916_346116_round_0012", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0012", + "prediction_horizon": 32, + "runtime_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/metadata/runtime", + "steps": 30, + "wait_ready_timeout_s": 30.0 + } + }, + "control_at_failure": { + "acceleration_limits": [ + 178.113964503, + 247.518197236, + 201.062710341, + 412.295997642, + 292.886498339, + 681.801119417, + 164.113917278, + 267.740085544, + 714.966739645, + 836.862131179, + 880.771530315, + 543.256770374, + 313.320489803, + 313.35155152 + ], + "armed": true, + "command_guard_failure": null, + "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 + ], + "dragging": false, + "fault": null, + "holding": true, + "policy_finished": false, + "position_limit_source": "sdk", + "position_limits": [ + [ + -2.7679899999999997, + 3.29159 + ], + [ + -0.15, + 3.81519 + ], + [ + -0.15, + 3.29159 + ], + [ + -1.84297, + 1.7207999999999999 + ], + [ + -1.7207999999999999, + 1.7207999999999999 + ], + [ + -2.2443999999999997, + 2.2443999999999997 + ], + [ + 0.0, + 0.096 + ], + [ + -2.7679899999999997, + 3.29159 + ], + [ + -0.15, + 3.81519 + ], + [ + -0.15, + 3.29159 + ], + [ + -1.84297, + 1.7207999999999999 + ], + [ + -1.7207999999999999, + 1.7207999999999999 + ], + [ + -2.2443999999999997, + 2.2443999999999997 + ], + [ + 0.0, + 0.096 + ] + ], + "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 + ], + "stop_file": "/tmp/prometheus_openpi/STOP", + "tracking_error_limits": [ + 0.20073625504970552, + 0.309388148188591, + 0.29782940477132797, + 0.22655070275068284, + 0.5001068050414323, + 0.7771305423974991, + 0.06952205713838339, + 0.268162048868835, + 0.3556229412555695, + 0.4542571985721588, + 0.3109293460845947, + 1.0653276860713958, + 0.45733958966098726, + 0.07211417473852634 + ], + "velocity_limits": [ + 6.503956017494202, + 7.554651925563812, + 9.670842275619506, + 10.588351378440857, + 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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: + - 178.113964503 + - 247.518197236 + - 201.062710341 + - 412.295997642 + - 292.886498339 + - 681.801119417 + - 164.113917278 + - 267.740085544 + - 714.966739645 + - 836.862131179 + - 880.771530315 + - 543.256770374 + - 313.320489803 + - 313.35155152 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + 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: false + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 1.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 + sync_wait_after_ack: true +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: YAM V2 dp open_baozi - sync + 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/V2/dp/open_baozi/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/dp/open_baozi/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7b71697d87462eae497119d2098a46b5361f1c69 --- /dev/null +++ b/eval/YAM/V2/dp/open_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.model=dp + - policy.task=open_baozi + - policy.prompt=open_baozi + - policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/open_baozi/best-short.pt + - run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi + - async_inference.enabled=false + - preview.window=YAM V2 dp open_baozi - sync + job: + name: rollout + chdir: false + override_dirname: async_inference.enabled=false,execute=true,policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/open_baozi/best-short.pt,policy.model=dp,policy.prompt=open_baozi,policy.task=open_baozi,preview.window=YAM + V2 dp open_baozi - sync,run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi + id: ??? + num: ??? + config_name: yam_v2 + 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/yam_v2/dp/best-short/open_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/V2/dp/open_baozi/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/dp/open_baozi/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..467b850c1d565f33c1e82e58edd00a7ffdf16761 --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.model=dp +- policy.task=open_baozi +- policy.prompt=open_baozi +- policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/open_baozi/best-short.pt +- run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi +- async_inference.enabled=false +- preview.window=YAM V2 dp open_baozi - sync diff --git a/eval/YAM/V2/dp/open_baozi/metadata/hydra/rollout.log b/eval/YAM/V2/dp/open_baozi/metadata/hydra/rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..3582e2856c521cbe002d9e0e180c683ff48469c5 --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/metadata/hydra/rollout.log @@ -0,0 +1,2127 @@ +[2026-09-16 21:26:12,787][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:26:12,788][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:26:12,788][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:26:12,788][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:26:12,788][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:26:12,788][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:26:12,788][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:26:12,788][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:26:12,789][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:26:12,789][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:26:12,789][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:26:12,789][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:26:12,789][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:26:12,789][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:26:12,790][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:26:12,790][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} +[2026-09-16 21:26:12,790][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 +[2026-09-16 21:26:12,790][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 +[2026-09-16 21:26:12,790][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:26:12,790][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:26:12,790][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:26:12,790][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:26:12,791][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:26:12,791][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:26:12,791][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:26:12,791][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:26:12,791][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:26:12,791][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:26:12,791][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:26:12,791][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 +[2026-09-16 21:26:12,791][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:26:12,803][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:26:12,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:26:12,826][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:26:12,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:26:12,848][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:12,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:26:12,870][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:26:12,881][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:12,892][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:26:12,903][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:26:12,914][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:12,925][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:26:12,936][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:26:12,947][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:12,958][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:26:12,969][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:26:12,980][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:12,991][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:26:13,002][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:26:13,013][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:13,024][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:26:13,024][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:26:13,024][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 +[2026-09-16 21:26:13,024][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:26:13,078][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 +[2026-09-16 21:26:13,132][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 +[2026-09-16 21:26:13,186][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 +[2026-09-16 21:26:13,240][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 +[2026-09-16 21:26:13,293][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 +[2026-09-16 21:26:13,347][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 +[2026-09-16 21:26:13,401][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 +[2026-09-16 21:26:13,401][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) +[2026-09-16 21:26:13,402][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:26:13,402][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:26:13,412][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:26:13,418][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:26:13,424][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:26:13,430][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:26:13,436][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:26:13,442][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:26:13,448][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:26:13,454][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)] +[2026-09-16 21:26:13,454][root][INFO] - current_pos: [-0.02574959945067512, -0.000953688868543523, 0.0017166399633783413, 0.0001907377737087046, 0.023460746166170665, -0.06008239871824195, -0.0001907377737087046] +[2026-09-16 21:26:13,454][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:26:13,454][root][INFO] - starting separate thread for control loop +[2026-09-16 21:26:13,554][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=-0.02574959945067512, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789565173.5547047), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789565173.5547047), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789565173.5547047), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789565173.5547047), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.023460746166170665, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789565173.5547047), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06008239871824195, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565173.5547047), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789565173.5547047)] +[2026-09-16 21:26:13,554][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:26:13,554][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0002 +[2026-09-16 21:26:13,554][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:26:14,186][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 21:26:14,486][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:26:15,118][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:26:15,456][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.274471656366828, -0.00705729762722207) +[2026-09-16 21:26:15,457][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27447166 -0.0070573 ] +[2026-09-16 21:26:15,689][root][INFO] - initializing, .... +[2026-09-16 21:26:15,689][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 +[2026-09-16 21:26:15,690][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 +[2026-09-16 21:26:15,690][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:26:15,690][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:26:15,690][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:26:15,690][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:26:15,690][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:26:15,690][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:26:15,690][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:26:15,690][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:26:15,690][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:26:15,690][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:26:15,690][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:26:15,690][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 +[2026-09-16 21:26:15,691][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:26:15,702][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:26:15,712][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:15,723][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:26:15,734][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:26:15,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:15,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:26:15,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:26:15,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:15,787][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:26:15,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:26:15,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:15,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:26:15,830][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:26:15,841][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:15,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:26:15,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:26:15,873][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:15,884][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:26:15,895][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:26:15,905][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:26:15,916][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:26:15,916][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:26:15,916][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 +[2026-09-16 21:26:15,916][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:26:15,970][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 +[2026-09-16 21:26:16,023][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 +[2026-09-16 21:26:16,077][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 +[2026-09-16 21:26:16,130][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 +[2026-09-16 21:26:16,184][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 +[2026-09-16 21:26:16,237][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 +[2026-09-16 21:26:16,291][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 +[2026-09-16 21:26:16,291][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.37 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 21:26:16,291][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:26:16,291][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:26:16,302][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:26:16,307][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:26:16,313][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:26:16,319][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:26:16,325][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:26:16,331][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:26:16,337][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:26:16,342][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=-0.07521367521367495, 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)] +[2026-09-16 21:26:16,343][root][INFO] - current_pos: [0.018501564049744346, -0.000953688868543523, 0.000953688868543523, 0.0005722133211261138, -0.022697795071335847, 0.04520485236896299, 0.11921110856794037] +[2026-09-16 21:26:16,343][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:26:16,343][root][INFO] - starting separate thread for control loop +[2026-09-16 21:26:16,443][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.018501564049744346, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789565176.4436371), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=-0.0013351644159644849, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789565176.4436371), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789565176.4436371), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789565176.4436371), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.023079270618749703, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789565176.4436371), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.04520485236896299, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565176.4436371), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.11921110856794037, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565176.4436371)] +[2026-09-16 21:26:16,443][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:26:16,443][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.1192 +[2026-09-16 21:26:16,443][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:26:17,125][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 21:26:17,426][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:26:18,056][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:26:18,356][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252346074616618, -0.010490577553978753) +[2026-09-16 21:26:18,356][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25234607 -0.01049058] +[2026-09-16 21:26:18,480][root][INFO] - initializing, .... +[2026-09-16 21:26:25,694][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.44 Hz +[2026-09-16 21:26:28,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.86 Hz +[2026-09-16 21:26:35,696][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.76 Hz +[2026-09-16 21:26:38,486][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.21 Hz +[2026-09-16 21:26:43,457][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.11 iterations per second over 30.00 seconds. +[2026-09-16 21:26:43,457][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003889 s, max step_time: 0.061641 s +[2026-09-16 21:26:45,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.43 Hz +[2026-09-16 21:26:46,344][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.52 iterations per second over 30.00 seconds. +[2026-09-16 21:26:46,344][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003960 s, max step_time: 0.069903 s +[2026-09-16 21:26:48,488][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.73 Hz +[2026-09-16 21:26:55,702][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.82 Hz +[2026-09-16 21:26:58,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.28 Hz +[2026-09-16 21:27:05,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.47 Hz +[2026-09-16 21:27:08,494][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.13 Hz +[2026-09-16 21:27:13,458][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.02 iterations per second over 30.00 seconds. +[2026-09-16 21:27:13,458][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003937 s, max step_time: 0.037380 s +[2026-09-16 21:27:15,705][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.35 Hz +[2026-09-16 21:27:16,344][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.73 iterations per second over 30.00 seconds. +[2026-09-16 21:27:16,345][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003941 s, max step_time: 0.034962 s +[2026-09-16 21:27:18,497][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.57 Hz +[2026-09-16 21:27:23,264][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] +[2026-09-16 21:27:23,264][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] +[2026-09-16 21:27:25,709][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.61 Hz +[2026-09-16 21:27:28,501][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.12 Hz +[2026-09-16 21:27:35,712][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.62 Hz +[2026-09-16 21:27:38,501][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.79 Hz +[2026-09-16 21:27:43,460][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.62 iterations per second over 30.00 seconds. +[2026-09-16 21:27:43,460][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003793 s, max step_time: 0.007150 s +[2026-09-16 21:27:45,712][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.58 Hz +[2026-09-16 21:27:46,347][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.35 iterations per second over 30.00 seconds. +[2026-09-16 21:27:48,504][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.70 Hz +[2026-09-16 21:27:55,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.94 Hz +[2026-09-16 21:27:58,505][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.39 Hz +[2026-09-16 21:28:05,718][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.24 Hz +[2026-09-16 21:28:06,786][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003819 s, max step_time: 0.010818 s +[2026-09-16 21:28:08,508][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.35 Hz +[2026-09-16 21:28:13,462][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.65 iterations per second over 30.00 seconds. +[2026-09-16 21:28:13,462][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003851 s, max step_time: 0.010072 s +[2026-09-16 21:28:15,718][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.18 Hz +[2026-09-16 21:28:16,351][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.23 iterations per second over 30.00 seconds. +[2026-09-16 21:28:18,508][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.00 Hz +[2026-09-16 21:28:25,722][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.11 Hz +[2026-09-16 21:28:28,509][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.67 Hz +[2026-09-16 21:28:35,727][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.03 Hz +[2026-09-16 21:28:36,786][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.004005 s, max step_time: 0.010009 s +[2026-09-16 21:28:38,512][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.50 Hz +[2026-09-16 21:28:43,463][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.42 iterations per second over 30.00 seconds. +[2026-09-16 21:28:43,463][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003977 s, max step_time: 0.008889 s +[2026-09-16 21:28:45,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.01 Hz +[2026-09-16 21:28:46,352][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.55 iterations per second over 30.00 seconds. +[2026-09-16 21:28:48,513][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.78 Hz +[2026-09-16 21:28:55,729][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.18 Hz +[2026-09-16 21:28:58,514][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.39 Hz +[2026-09-16 21:28:59,913][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] +[2026-09-16 21:28:59,914][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] +[2026-09-16 21:29:05,731][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.74 Hz +[2026-09-16 21:29:06,788][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003964 s, max step_time: 0.035863 s +[2026-09-16 21:29:08,515][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.48 Hz +[2026-09-16 21:29:13,465][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.35 iterations per second over 30.00 seconds. +[2026-09-16 21:29:13,466][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003916 s, max step_time: 0.026383 s +[2026-09-16 21:29:15,734][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.73 Hz +[2026-09-16 21:29:16,356][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.17 iterations per second over 30.00 seconds. +[2026-09-16 21:29:18,517][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.45 Hz +[2026-09-16 21:29:25,739][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.79 Hz +[2026-09-16 21:29:28,520][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.03 Hz +[2026-09-16 21:29:35,740][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.28 Hz +[2026-09-16 21:29:36,791][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003953 s, max step_time: 0.011442 s +[2026-09-16 21:29:38,521][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.66 Hz +[2026-09-16 21:29:43,468][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.28 iterations per second over 30.00 seconds. +[2026-09-16 21:29:43,468][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003948 s, max step_time: 0.008762 s +[2026-09-16 21:29:45,741][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.27 Hz +[2026-09-16 21:29:46,357][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.16 iterations per second over 30.00 seconds. +[2026-09-16 21:29:48,521][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.20 Hz +[2026-09-16 21:29:55,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.05 Hz +[2026-09-16 21:29:58,523][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.86 Hz +[2026-09-16 21:30:05,744][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.07 Hz +[2026-09-16 21:30:06,792][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003953 s, max step_time: 0.037615 s +[2026-09-16 21:30:08,524][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 +[2026-09-16 21:30:09,434][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] +[2026-09-16 21:30:09,434][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] +[2026-09-16 21:30:13,468][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.33 iterations per second over 30.00 seconds. +[2026-09-16 21:30:13,468][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003917 s, max step_time: 0.037167 s +[2026-09-16 21:30:15,746][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.05 Hz +[2026-09-16 21:30:16,359][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.68 iterations per second over 30.00 seconds. +[2026-09-16 21:30:18,527][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.31 Hz +[2026-09-16 21:30:25,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.94 Hz +[2026-09-16 21:30:28,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.98 Hz +[2026-09-16 21:30:35,750][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.24 Hz +[2026-09-16 21:30:36,794][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003875 s, max step_time: 0.011520 s +[2026-09-16 21:30:38,533][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.77 Hz +[2026-09-16 21:30:43,470][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.31 iterations per second over 30.00 seconds. +[2026-09-16 21:30:43,470][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 87 times, mean step_time: 0.003886 s, max step_time: 0.016227 s +[2026-09-16 21:30:45,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.37 Hz +[2026-09-16 21:30:46,361][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.65 iterations per second over 30.00 seconds. +[2026-09-16 21:30:48,536][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.42 Hz +[2026-09-16 21:30:55,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.69 Hz +[2026-09-16 21:30:58,538][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.28 Hz +[2026-09-16 21:31:05,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.73 Hz +[2026-09-16 21:31:06,798][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 125 times, mean step_time: 0.003966 s, max step_time: 0.033865 s +[2026-09-16 21:31:08,537][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.69 Hz +[2026-09-16 21:31:13,472][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.88 iterations per second over 30.00 seconds. +[2026-09-16 21:31:13,473][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 136 times, mean step_time: 0.003970 s, max step_time: 0.033837 s +[2026-09-16 21:31:15,757][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.96 Hz +[2026-09-16 21:31:16,362][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.25 iterations per second over 30.00 seconds. +[2026-09-16 21:31:18,538][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.66 Hz +[2026-09-16 21:31:25,757][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.97 Hz +[2026-09-16 21:31:25,827][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] +[2026-09-16 21:31:25,828][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] +[2026-09-16 21:31:28,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.63 Hz +[2026-09-16 21:31:35,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.73 Hz +[2026-09-16 21:31:36,800][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 89 times, mean step_time: 0.003918 s, max step_time: 0.040773 s +[2026-09-16 21:31:38,545][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.10 Hz +[2026-09-16 21:31:43,476][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.90 iterations per second over 30.00 seconds. +[2026-09-16 21:31:43,476][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 65 times, mean step_time: 0.003862 s, max step_time: 0.031924 s +[2026-09-16 21:31:45,762][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.94 Hz +[2026-09-16 21:31:46,369][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.91 iterations per second over 30.01 seconds. +[2026-09-16 21:31:48,546][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.78 Hz +[2026-09-16 21:31:55,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.66 Hz +[2026-09-16 21:31:58,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.51 Hz +[2026-09-16 21:32:05,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.93 Hz +[2026-09-16 21:32:06,802][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 121 times, mean step_time: 0.003945 s, max step_time: 0.014590 s +[2026-09-16 21:32:08,550][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.07 Hz +[2026-09-16 21:32:13,478][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.61 iterations per second over 30.00 seconds. +[2026-09-16 21:32:13,478][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 130 times, mean step_time: 0.003959 s, max step_time: 0.012614 s +[2026-09-16 21:32:15,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.88 Hz +[2026-09-16 21:32:16,371][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.05 iterations per second over 30.00 seconds. +[2026-09-16 21:32:18,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.03 Hz +[2026-09-16 21:32:25,768][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.28 Hz +[2026-09-16 21:32:28,556][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 +[2026-09-16 21:32:35,768][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.89 Hz +[2026-09-16 21:32:36,805][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 133 times, mean step_time: 0.003965 s, max step_time: 0.013416 s +[2026-09-16 21:32:38,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.93 Hz +[2026-09-16 21:32:41,141][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] +[2026-09-16 21:32:41,142][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] +[2026-09-16 21:32:43,480][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.58 iterations per second over 30.00 seconds. +[2026-09-16 21:32:43,481][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 123 times, mean step_time: 0.003928 s, max step_time: 0.045523 s +[2026-09-16 21:32:45,771][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.93 Hz +[2026-09-16 21:32:46,373][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.68 iterations per second over 30.00 seconds. +[2026-09-16 21:32:48,562][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.61 Hz +[2026-09-16 21:32:52,890][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.71 iterations per second over 6.52 seconds. +[2026-09-16 21:32:52,898][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.34 iterations per second over 9.42 seconds. +[2026-09-16 21:33:10,657][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:33:10,658][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:33:10,658][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:33:10,658][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:33:10,658][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:33:10,658][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:33:10,658][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:33:10,659][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:33:10,659][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:33:10,660][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:33:10,660][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:33:10,660][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:33:10,660][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:33:10,660][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:33:10,660][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:33:10,660][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} +[2026-09-16 21:33:10,660][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 +[2026-09-16 21:33:10,660][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 +[2026-09-16 21:33:10,660][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:33:10,660][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:33:10,660][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:33:10,660][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:33:10,660][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:33:10,660][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:33:10,660][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:33:10,660][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:33:10,660][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:33:10,660][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:33:10,660][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:33:10,661][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 +[2026-09-16 21:33:10,661][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:33:10,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:33:10,685][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:33:10,696][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:33:10,706][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:33:10,717][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:10,729][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:33:10,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:33:10,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:10,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:33:10,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:33:10,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:10,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:33:10,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:33:10,816][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:10,826][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:33:10,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:33:10,848][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:10,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:33:10,870][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:33:10,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:10,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:33:10,891][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:33:10,891][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 +[2026-09-16 21:33:10,891][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:33:10,945][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 +[2026-09-16 21:33:10,999][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 +[2026-09-16 21:33:11,054][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 +[2026-09-16 21:33:11,108][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 +[2026-09-16 21:33:11,162][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 +[2026-09-16 21:33:11,216][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 +[2026-09-16 21:33:11,270][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 +[2026-09-16 21:33:11,270][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) +[2026-09-16 21:33:11,270][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:33:11,329][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:33:11,340][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:33:11,345][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:33:11,352][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:33:11,358][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:33:11,364][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:33:11,370][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:33:11,376][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:33:11,382][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=0.0073260073260073, 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)] +[2026-09-16 21:33:11,382][root][INFO] - current_pos: [-0.02651255054550994, -0.0001907377737087046, 0.0017166399633783413, 0.000953688868543523, 0.007820248722056888, -0.09365224689097396, 0.022316319523918438] +[2026-09-16 21:33:11,382][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:33:11,382][root][INFO] - starting separate thread for control loop +[2026-09-16 21:33:11,483][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.02651255054550994, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789565591.483249), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=28.0, timestamp=1789565591.483249), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789565591.483249), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789565591.483249), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.007820248722056888, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789565591.483249), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.09403372243838781, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565591.483249), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565591.483249)] +[2026-09-16 21:33:11,483][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:33:11,483][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-16 21:33:11,483][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:33:12,165][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 21:33:12,465][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:33:13,097][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 +[2026-09-16 21:33:13,397][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.28439002059968, -0.006675822079804661) +[2026-09-16 21:33:13,398][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28439002 -0.00667582] +[2026-09-16 21:33:13,632][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 +[2026-09-16 21:33:13,633][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 +[2026-09-16 21:33:13,633][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:33:13,633][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:33:13,633][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:33:13,633][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:33:13,633][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:33:13,633][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:33:13,633][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:33:13,633][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:33:13,633][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:33:13,633][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:33:13,633][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:33:13,633][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 +[2026-09-16 21:33:13,633][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:33:13,634][root][INFO] - initializing, .... +[2026-09-16 21:33:13,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:33:13,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:13,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:33:13,677][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:33:13,688][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:13,699][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:33:13,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:33:13,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:13,731][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:33:13,742][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:33:13,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:13,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:33:13,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:33:13,785][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:13,795][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:33:13,806][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:33:13,817][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:13,827][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:33:13,838][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:33:13,849][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:33:13,860][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:33:13,860][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:33:13,860][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 +[2026-09-16 21:33:13,860][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:33:13,913][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 +[2026-09-16 21:33:13,967][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 +[2026-09-16 21:33:14,020][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 +[2026-09-16 21:33:14,074][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 +[2026-09-16 21:33:14,127][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 +[2026-09-16 21:33:14,181][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 +[2026-09-16 21:33:14,235][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 +[2026-09-16 21:33:14,235][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) +[2026-09-16 21:33:14,235][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:33:14,235][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:33:14,246][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:33:14,251][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:33:14,257][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:33:14,263][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:33:14,269][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:33:14,275][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:33:14,281][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:33:14,287][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.07521367521367495, 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)] +[2026-09-16 21:33:14,287][root][INFO] - current_pos: [0.04367895017929335, -0.0001907377737087046, 0.000953688868543523, 0.0013351644159609322, -0.02040894178683139, 0.078774700541695, 1.506637674525063] +[2026-09-16 21:33:14,287][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:33:14,287][root][INFO] - starting separate thread for control loop +[2026-09-16 21:33:14,387][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.07521367521367495, pos=0.04367895017929335, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789565594.3877842), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.08888888888888857, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565594.3877842), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789565594.3877842), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789565594.3877842), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.02002746623941043, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789565594.3877842), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0791561760891124, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565594.3877842), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=1.5062561989776455, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565594.3877842)] +[2026-09-16 21:33:14,387][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:33:14,388][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.5063 +[2026-09-16 21:33:14,388][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:33:15,011][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:33:15,311][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:33:15,927][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:33:16,227][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252346074616618, -0.010490577553982305) +[2026-09-16 21:33:16,228][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25234607 -0.01049058] +[2026-09-16 21:33:16,355][root][INFO] - initializing, .... +[2026-09-16 21:33:23,638][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.25 Hz +[2026-09-16 21:33:26,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.43 Hz +[2026-09-16 21:33:33,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.14 Hz +[2026-09-16 21:33:36,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.13 Hz +[2026-09-16 21:33:41,384][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.86 iterations per second over 30.00 seconds. +[2026-09-16 21:33:41,384][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003908 s, max step_time: 0.063500 s +[2026-09-16 21:33:43,644][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.76 Hz +[2026-09-16 21:33:44,290][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.11 iterations per second over 30.00 seconds. +[2026-09-16 21:33:44,290][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003982 s, max step_time: 0.069274 s +[2026-09-16 21:33:46,363][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.12 Hz +[2026-09-16 21:33:53,647][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.92 Hz +[2026-09-16 21:33:56,367][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 +[2026-09-16 21:33:57,060][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] +[2026-09-16 21:33:57,060][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] +[2026-09-16 21:34:03,650][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.83 Hz +[2026-09-16 21:34:06,367][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.57 Hz +[2026-09-16 21:34:11,386][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.12 iterations per second over 30.00 seconds. +[2026-09-16 21:34:11,386][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003874 s, max step_time: 0.039093 s +[2026-09-16 21:34:13,654][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.84 Hz +[2026-09-16 21:34:14,292][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.55 iterations per second over 30.00 seconds. +[2026-09-16 21:34:14,292][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003883 s, max step_time: 0.034550 s +[2026-09-16 21:34:16,368][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.67 Hz +[2026-09-16 21:34:23,657][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.69 Hz +[2026-09-16 21:34:26,368][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.60 Hz +[2026-09-16 21:34:33,659][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.62 Hz +[2026-09-16 21:34:36,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.44 Hz +[2026-09-16 21:34:41,387][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.82 iterations per second over 30.00 seconds. +[2026-09-16 21:34:41,387][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003971 s, max step_time: 0.008228 s +[2026-09-16 21:34:43,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.68 Hz +[2026-09-16 21:34:44,294][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.41 iterations per second over 30.00 seconds. +[2026-09-16 21:34:44,294][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003993 s, max step_time: 0.008544 s +[2026-09-16 21:34:46,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.04 Hz +[2026-09-16 21:34:50,863][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] +[2026-09-16 21:34:50,863][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] +[2026-09-16 21:34:53,664][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.42 Hz +[2026-09-16 21:34:56,376][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.93 Hz +[2026-09-16 21:35:03,665][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.25 Hz +[2026-09-16 21:35:06,380][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.81 Hz +[2026-09-16 21:35:11,389][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.78 iterations per second over 30.00 seconds. +[2026-09-16 21:35:11,389][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003820 s, max step_time: 0.042930 s +[2026-09-16 21:35:13,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.33 Hz +[2026-09-16 21:35:14,295][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.59 iterations per second over 30.00 seconds. +[2026-09-16 21:35:14,295][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003808 s, max step_time: 0.033090 s +[2026-09-16 21:35:16,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.59 Hz +[2026-09-16 21:35:23,670][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.16 Hz +[2026-09-16 21:35:26,385][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.78 Hz +[2026-09-16 21:35:31,628][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.36 iterations per second over 17.33 seconds. +[2026-09-16 21:35:31,635][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.48 iterations per second over 20.25 seconds. +[2026-09-16 21:43:05,495][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:43:05,496][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:43:05,496][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:43:05,496][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:43:05,496][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:43:05,497][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:43:05,497][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:43:05,497][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:43:05,497][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:43:05,498][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:43:05,498][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:43:05,498][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:43:05,498][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:43:05,498][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:43:05,498][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:43:05,498][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} +[2026-09-16 21:43:05,498][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 +[2026-09-16 21:43:05,498][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 +[2026-09-16 21:43:05,499][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:43:05,499][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:43:05,499][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:43:05,499][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:43:05,499][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:43:05,499][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:43:05,499][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:43:05,499][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:43:05,499][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:43:05,499][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:43:05,499][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:43:05,499][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 +[2026-09-16 21:43:05,500][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:43:05,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:43:05,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:43:05,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:43:05,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:43:05,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:05,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:43:05,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:43:05,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:05,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:43:05,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:43:05,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:05,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:43:05,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:43:05,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:05,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:43:05,678][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:43:05,689][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:05,701][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:43:05,712][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:43:05,723][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:05,734][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:43:05,734][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-16 21:43:05,735][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 +[2026-09-16 21:43:05,735][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:43:05,790][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 +[2026-09-16 21:43:05,845][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 +[2026-09-16 21:43:05,901][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 +[2026-09-16 21:43:05,956][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 +[2026-09-16 21:43:06,012][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 +[2026-09-16 21:43:06,067][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 +[2026-09-16 21:43:06,123][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 +[2026-09-16 21:43:06,123][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) +[2026-09-16 21:43:06,123][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:43:06,123][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:43:06,134][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:43:06,140][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:43:06,147][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:43:06,153][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:43:06,159][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:43:06,166][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:43:06,172][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:43:06,178][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=0.0024420024420024333, 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)] +[2026-09-16 21:43:06,178][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0017166399633783413, -0.0001907377737087046, 0.012397955291065799, 0.007438773174639479, 0.1081483176928355] +[2026-09-16 21:43:06,178][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:43:06,178][root][INFO] - starting separate thread for control loop +[2026-09-16 21:43:06,279][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.03174603174603163, eff=-0.02051282051282044, pos=-0.0040054932478827965, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789566186.2792964), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789566186.2792964), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.03174603174603163, eff=0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789566186.2792964), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789566186.2792964), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.012397955291065799, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789566186.2792964), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.007438773174639479, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789566186.2792964), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.1081483176928355, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789566186.2792964)] +[2026-09-16 21:43:06,279][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:43:06,279][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.1081 +[2026-09-16 21:43:06,279][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:43:06,906][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 21:43:07,206][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:43:07,838][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:43:08,138][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.007057297627218517) +[2026-09-16 21:43:08,139][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 21:43:08,376][root][INFO] - initializing, .... +[2026-09-16 21:43:08,377][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 +[2026-09-16 21:43:08,377][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 +[2026-09-16 21:43:08,378][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:43:08,378][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:43:08,378][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:43:08,378][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:43:08,378][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:43:08,378][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:43:08,378][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:43:08,378][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:43:08,378][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:43:08,378][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:43:08,378][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:43:08,378][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 +[2026-09-16 21:43:08,378][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:43:08,389][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:43:08,400][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:08,411][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:43:08,422][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:43:08,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:08,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:43:08,454][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:43:08,465][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:08,476][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:43:08,487][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:43:08,497][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:08,508][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:43:08,519][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:43:08,529][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:08,540][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:43:08,551][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:43:08,562][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:08,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:43:08,583][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:43:08,594][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:43:08,604][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:43:08,604][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:43:08,604][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 +[2026-09-16 21:43:08,605][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:43:08,658][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 +[2026-09-16 21:43:08,712][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 +[2026-09-16 21:43:08,766][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 +[2026-09-16 21:43:08,819][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 +[2026-09-16 21:43:08,873][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 +[2026-09-16 21:43:08,926][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 +[2026-09-16 21:43:08,980][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 +[2026-09-16 21:43:08,980][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) +[2026-09-16 21:43:08,980][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:43:08,980][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:43:08,991][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:43:08,996][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:43:09,002][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:43:09,008][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:43:09,014][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:43:09,020][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:43:09,026][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:43:09,032][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=-0.04786324786324769, 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=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 21:43:09,032][root][INFO] - current_pos: [0.03147173266193626, -0.0020981155107957505, 0.000953688868543523, 0.0005722133211261138, -0.019645990691996573, 0.041771572442206306, -0.004386968795300206] +[2026-09-16 21:43:09,032][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:43:09,032][root][INFO] - starting separate thread for control loop +[2026-09-16 21:43:09,132][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=0.03147173266193626, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789566189.132753), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566189.132753), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789566189.132753), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789566189.132753), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.019645990691996573, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789566189.132753), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.041771572442206306, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566189.132753), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.004386968795300206, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566189.132753)] +[2026-09-16 21:43:09,132][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:43:09,133][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-16 21:43:09,133][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:43:09,746][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:43:10,047][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:43:10,666][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 21:43:10,966][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2519645990692005, -0.01087205310139261) +[2026-09-16 21:43:10,966][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2519646 -0.01087205] +[2026-09-16 21:43:11,097][root][INFO] - initializing, .... +[2026-09-16 21:43:18,379][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.80 Hz +[2026-09-16 21:43:21,103][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.02 Hz +[2026-09-16 21:43:28,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.76 Hz +[2026-09-16 21:43:31,106][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.59 Hz +[2026-09-16 21:43:36,181][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.45 iterations per second over 30.00 seconds. +[2026-09-16 21:43:36,181][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003945 s, max step_time: 0.070031 s +[2026-09-16 21:43:38,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.59 Hz +[2026-09-16 21:43:39,034][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.19 iterations per second over 30.00 seconds. +[2026-09-16 21:43:39,034][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004029 s, max step_time: 0.069495 s +[2026-09-16 21:43:41,105][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.84 Hz +[2026-09-16 21:43:48,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.78 Hz +[2026-09-16 21:43:51,105][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.79 Hz +[2026-09-16 21:43:58,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.20 Hz +[2026-09-16 21:44:01,106][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.79 Hz +[2026-09-16 21:44:06,184][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.61 iterations per second over 30.00 seconds. +[2026-09-16 21:44:06,184][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003852 s, max step_time: 0.025126 s +[2026-09-16 21:44:08,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.02 Hz +[2026-09-16 21:44:09,036][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.94 iterations per second over 30.00 seconds. +[2026-09-16 21:44:09,036][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003847 s, max step_time: 0.025464 s +[2026-09-16 21:44:11,108][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.65 Hz +[2026-09-16 21:44:16,363][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 265.04 iterations per second over 7.33 seconds. +[2026-09-16 21:44:16,369][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.91 iterations per second over 10.19 seconds. +[2026-09-16 21:44:34,699][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:44:34,700][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:44:34,700][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:44:34,700][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:44:34,700][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:44:34,700][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:44:34,700][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:44:34,700][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:44:34,700][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:44:34,701][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:44:34,701][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:44:34,701][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:44:34,701][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:44:34,701][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:44:34,701][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:44:34,701][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} +[2026-09-16 21:44:34,702][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 +[2026-09-16 21:44:34,702][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 +[2026-09-16 21:44:34,702][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:44:34,702][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:44:34,702][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:44:34,702][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:44:34,702][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:44:34,702][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:44:34,702][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:44:34,702][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:44:34,702][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:44:34,702][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:44:34,702][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:44:34,702][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 +[2026-09-16 21:44:34,703][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:44:34,715][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:44:34,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:44:34,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:44:34,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:44:34,759][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:34,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:44:34,781][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:44:34,792][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:34,803][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:44:34,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:44:34,825][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:34,836][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:44:34,847][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:44:34,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:34,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:44:34,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:44:34,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:34,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:44:34,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:44:34,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:34,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:44:34,935][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:44:34,935][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 +[2026-09-16 21:44:34,935][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:44:34,992][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 +[2026-09-16 21:44:35,047][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 +[2026-09-16 21:44:35,103][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 +[2026-09-16 21:44:35,158][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 +[2026-09-16 21:44:35,213][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 +[2026-09-16 21:44:35,269][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 +[2026-09-16 21:44:35,325][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 +[2026-09-16 21:44:35,325][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) +[2026-09-16 21:44:35,325][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:44:35,326][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:44:35,337][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:44:35,342][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:44:35,348][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:44:35,355][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:44:35,362][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:44:35,369][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:44:35,376][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:44:35,383][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)] +[2026-09-16 21:44:35,383][root][INFO] - current_pos: [-0.03490501258869294, -0.000953688868543523, 0.0017166399633783413, 0.0001907377737087046, 0.023079270618753256, -0.10128175783932214, 0.0005722133211261138] +[2026-09-16 21:44:35,383][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:44:35,383][root][INFO] - starting separate thread for control loop +[2026-09-16 21:44:35,484][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.03418803418803407, pos=-0.03490501258869294, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789566275.4844031), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789566275.4844031), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789566275.4844031), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789566275.4844031), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.023460746166170665, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789566275.4844031), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.10128175783932214, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789566275.4844031), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789566275.4844031)] +[2026-09-16 21:44:35,484][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:44:35,484][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0006 +[2026-09-16 21:44:35,484][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:44:36,113][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 21:44:36,413][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:44:37,047][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:44:37,347][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.268368047608149, -0.007057297627218517) +[2026-09-16 21:44:37,348][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26836805 -0.0070573 ] +[2026-09-16 21:44:37,588][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 +[2026-09-16 21:44:37,588][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 +[2026-09-16 21:44:37,588][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:44:37,588][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:44:37,588][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:44:37,589][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:44:37,589][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:44:37,589][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:44:37,589][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:44:37,589][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:44:37,589][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:44:37,589][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:44:37,589][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:44:37,589][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 +[2026-09-16 21:44:37,589][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:44:37,589][root][INFO] - initializing, .... +[2026-09-16 21:44:37,600][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:44:37,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:37,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:44:37,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:44:37,643][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:37,654][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:44:37,665][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:44:37,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:37,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:44:37,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:44:37,710][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:37,721][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:44:37,732][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:44:37,742][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:37,753][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:44:37,764][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:44:37,775][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:37,786][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:44:37,797][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:44:37,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:44:37,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:44:37,818][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:44:37,818][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 +[2026-09-16 21:44:37,818][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:44:37,872][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 +[2026-09-16 21:44:37,926][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 +[2026-09-16 21:44:37,980][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 +[2026-09-16 21:44:38,034][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 +[2026-09-16 21:44:38,087][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 +[2026-09-16 21:44:38,141][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 +[2026-09-16 21:44:38,195][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 +[2026-09-16 21:44:38,195][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) +[2026-09-16 21:44:38,195][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:44:38,195][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:44:38,206][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:44:38,211][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:44:38,217][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:44:38,223][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:44:38,229][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:44:38,235][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:44:38,241][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:44:38,247][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=-0.0024420024420024333, 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)] +[2026-09-16 21:44:38,247][root][INFO] - current_pos: [-0.007820248722056888, -0.000953688868543523, 0.000953688868543523, 0.005912870984969842, -0.09098191805905209, 0.02651255054550994, 0.9725719081406883] +[2026-09-16 21:44:38,247][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:44:38,247][root][INFO] - starting separate thread for control loop +[2026-09-16 21:44:38,348][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=-0.007820248722056888, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789566278.3480735), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0013351644159644849, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566278.3480735), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789566278.3480735), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.005912870984969842, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789566278.3480735), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.09098191805905209, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789566278.3480735), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.02651255054550994, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566278.3480735), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.9725719081406883, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566278.3480735)] +[2026-09-16 21:44:38,348][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:44:38,348][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.9726 +[2026-09-16 21:44:38,348][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:44:38,910][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:44:39,210][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:44:39,836][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:44:40,136][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2649347676813925, -0.010490577553978753) +[2026-09-16 21:44:40,136][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26493477 -0.01049058] +[2026-09-16 21:44:40,260][root][INFO] - initializing, .... +[2026-09-16 21:44:47,593][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.17 Hz +[2026-09-16 21:44:50,265][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.46 Hz +[2026-09-16 21:44:57,595][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.72 Hz +[2026-09-16 21:45:00,267][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.74 Hz +[2026-09-16 21:45:05,385][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.19 iterations per second over 30.00 seconds. +[2026-09-16 21:45:05,386][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003965 s, max step_time: 0.068473 s +[2026-09-16 21:45:07,597][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.53 Hz +[2026-09-16 21:45:08,248][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.67 iterations per second over 30.00 seconds. +[2026-09-16 21:45:08,248][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004037 s, max step_time: 0.062916 s +[2026-09-16 21:45:10,270][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.54 Hz +[2026-09-16 21:45:17,598][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.09 Hz +[2026-09-16 21:45:20,270][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.30 Hz +[2026-09-16 21:45:27,599][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.67 Hz +[2026-09-16 21:45:30,273][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.53 Hz +[2026-09-16 21:45:31,511][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.74 iterations per second over 23.26 seconds. +[2026-09-16 21:45:31,518][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.20 iterations per second over 26.13 seconds. +[2026-09-16 21:49:17,022][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:49:17,023][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:49:17,023][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:49:17,023][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:49:17,023][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:49:17,023][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:49:17,024][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:49:17,024][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:49:17,024][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:49:17,025][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:49:17,025][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:49:17,025][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:49:17,025][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:49:17,025][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:49:17,025][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:49:17,025][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} +[2026-09-16 21:49:17,025][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 +[2026-09-16 21:49:17,025][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 +[2026-09-16 21:49:17,026][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:49:17,026][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:49:17,026][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:49:17,026][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:49:17,026][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:49:17,026][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:49:17,026][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:49:17,026][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:49:17,026][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:49:17,026][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:49:17,026][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:49:17,026][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 +[2026-09-16 21:49:17,027][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:49:17,038][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:49:17,049][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:49:17,060][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:49:17,071][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:49:17,082][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:17,093][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:49:17,105][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:49:17,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:17,127][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:49:17,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:49:17,149][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:17,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:49:17,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:49:17,183][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:17,194][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:49:17,205][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:49:17,216][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:17,227][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:49:17,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:49:17,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:17,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:49:17,261][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-16 21:49:17,261][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 +[2026-09-16 21:49:17,262][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:49:17,317][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 +[2026-09-16 21:49:17,373][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 +[2026-09-16 21:49:17,428][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 +[2026-09-16 21:49:17,482][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 +[2026-09-16 21:49:17,536][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 +[2026-09-16 21:49:17,590][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 +[2026-09-16 21:49:17,644][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 +[2026-09-16 21:49:17,644][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) +[2026-09-16 21:49:17,645][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:49:17,645][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:49:17,656][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:49:17,661][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:49:17,668][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:49:17,674][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:49:17,680][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:49:17,686][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:49:17,692][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:49:17,698][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=0.0024420024420024333, 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)] +[2026-09-16 21:49:17,698][root][INFO] - current_pos: [-0.02574959945067512, -0.0013351644159609322, 0.0013351644159609322, 0.0013351644159609322, 0.007820248722056888, 0.041771572442206306, 0.0001907377737087046] +[2026-09-16 21:49:17,698][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:49:17,698][root][INFO] - starting separate thread for control loop +[2026-09-16 21:49:17,798][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.02051282051282044, pos=-0.02574959945067512, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789566557.7988665), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789566557.7988665), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789566557.7988665), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789566557.7988665), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.007820248722056888, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789566557.7988665), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0413900968947889, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566557.7988665), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789566557.7988665)] +[2026-09-16 21:49:17,799][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:49:17,799][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0002 +[2026-09-16 21:49:17,799][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:49:18,421][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-16 21:49:18,721][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:49:19,347][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 +[2026-09-16 21:49:19,647][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.274853131914245, -0.00705729762722207) +[2026-09-16 21:49:19,647][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27485313 -0.0070573 ] +[2026-09-16 21:49:19,883][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 +[2026-09-16 21:49:19,883][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 +[2026-09-16 21:49:19,883][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:49:19,883][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:49:19,883][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:49:19,883][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:49:19,883][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:49:19,883][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:49:19,883][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:49:19,883][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:49:19,883][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:49:19,883][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:49:19,883][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:49:19,883][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 +[2026-09-16 21:49:19,884][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:49:19,885][root][INFO] - initializing, .... +[2026-09-16 21:49:19,895][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:49:19,906][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:19,917][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:49:19,928][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:49:19,938][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:19,949][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:49:19,960][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:49:19,970][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:19,981][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:49:19,992][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:49:20,003][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:20,013][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:49:20,024][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:49:20,035][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:20,045][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:49:20,056][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:49:20,067][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:20,077][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:49:20,088][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:49:20,099][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:49:20,110][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:49:20,110][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:49:20,110][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 +[2026-09-16 21:49:20,110][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:49:20,164][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 +[2026-09-16 21:49:20,217][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 +[2026-09-16 21:49:20,271][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 +[2026-09-16 21:49:20,325][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 +[2026-09-16 21:49:20,378][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 +[2026-09-16 21:49:20,431][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 +[2026-09-16 21:49:20,485][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 +[2026-09-16 21:49:20,485][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) +[2026-09-16 21:49:20,485][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:49:20,485][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:49:20,496][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:49:20,501][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:49:20,507][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:49:20,513][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:49:20,519][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:49:20,525][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:49:20,531][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:49:20,537][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=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, 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)] +[2026-09-16 21:49:20,537][root][INFO] - current_pos: [0.041771572442206306, -0.000953688868543523, 0.0005722133211261138, 0.0013351644159609322, 0.005531395437552433, 0.02613107499809253, 0.8104448004882894] +[2026-09-16 21:49:20,537][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:49:20,537][root][INFO] - starting separate thread for control loop +[2026-09-16 21:49:20,638][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=0.041771572442206306, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789566560.6382287), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789566560.6382287), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789566560.6382287), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789566560.6382287), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.005531395437552433, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789566560.6382287), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.02613107499809253, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566560.6382287), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.8104448004882894, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566560.6382287)] +[2026-09-16 21:49:20,638][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:49:20,638][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.8104 +[2026-09-16 21:49:20,638][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:49:21,261][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:49:21,561][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:49:22,182][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:49:22,482][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.257686732280462, -0.010490577553978753) +[2026-09-16 21:49:22,482][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25768673 -0.01049058] +[2026-09-16 21:49:22,606][root][INFO] - initializing, .... +[2026-09-16 21:49:29,888][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.54 Hz +[2026-09-16 21:49:32,609][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.69 Hz +[2026-09-16 21:49:39,889][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.44 Hz +[2026-09-16 21:49:42,612][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.63 Hz +[2026-09-16 21:49:47,699][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.79 iterations per second over 30.00 seconds. +[2026-09-16 21:49:47,699][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003924 s, max step_time: 0.063910 s +[2026-09-16 21:49:49,891][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.58 Hz +[2026-09-16 21:49:50,540][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.34 iterations per second over 30.00 seconds. +[2026-09-16 21:49:50,540][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003994 s, max step_time: 0.064661 s +[2026-09-16 21:49:52,615][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.41 Hz +[2026-09-16 21:49:59,892][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.28 Hz +[2026-09-16 21:50:02,619][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.01 Hz +[2026-09-16 21:50:09,892][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.69 Hz +[2026-09-16 21:50:12,622][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.43 Hz +[2026-09-16 21:50:17,701][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.42 iterations per second over 30.00 seconds. +[2026-09-16 21:50:17,701][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003870 s, max step_time: 0.021294 s +[2026-09-16 21:50:19,892][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.19 Hz +[2026-09-16 21:50:20,544][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.50 iterations per second over 30.00 seconds. +[2026-09-16 21:50:20,544][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003854 s, max step_time: 0.026088 s +[2026-09-16 21:50:22,623][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.46 Hz +[2026-09-16 21:50:29,895][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.94 Hz +[2026-09-16 21:50:32,627][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.11 Hz +[2026-09-16 21:50:39,896][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.58 Hz +[2026-09-16 21:50:42,628][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.49 Hz +[2026-09-16 21:50:47,702][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.39 iterations per second over 30.00 seconds. +[2026-09-16 21:50:47,702][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003870 s, max step_time: 0.007437 s +[2026-09-16 21:50:47,890][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.04 iterations per second over 27.35 seconds. +[2026-09-16 21:50:47,898][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 265.76 iterations per second over 0.20 seconds. +[2026-09-16 21:51:41,775][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:51:41,776][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:51:41,776][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:51:41,776][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:51:41,776][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:51:41,776][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:51:41,776][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:51:41,776][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:51:41,776][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:51:41,777][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:51:41,777][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:51:41,777][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:51:41,777][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:51:41,777][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:51:41,777][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:51:41,777][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} +[2026-09-16 21:51:41,778][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 +[2026-09-16 21:51:41,778][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 +[2026-09-16 21:51:41,778][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:51:41,778][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:51:41,778][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:51:41,778][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:51:41,778][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:51:41,778][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:51:41,778][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:51:41,778][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:51:41,778][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:51:41,778][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:51:41,778][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:51:41,778][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 +[2026-09-16 21:51:41,779][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:51:41,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:51:41,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:51:41,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:51:41,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:51:41,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:41,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:51:41,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:51:41,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:41,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:51:41,889][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:51:41,900][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:41,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:51:41,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:51:41,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:41,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:51:41,955][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:51:41,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:41,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:51:41,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:51:41,999][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:42,009][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:51:42,009][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:51:42,009][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 +[2026-09-16 21:51:42,010][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:51:42,063][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 +[2026-09-16 21:51:42,117][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 +[2026-09-16 21:51:42,172][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 +[2026-09-16 21:51:42,226][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 +[2026-09-16 21:51:42,279][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 +[2026-09-16 21:51:42,333][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 +[2026-09-16 21:51:42,387][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 +[2026-09-16 21:51:42,387][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) +[2026-09-16 21:51:42,387][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:51:42,387][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:51:42,398][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:51:42,404][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:51:42,410][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:51:42,416][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:51:42,422][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:51:42,428][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:51:42,433][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:51:42,440][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=0.0024420024420024333, 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=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 21:51:42,440][root][INFO] - current_pos: [-0.023842221713588074, -0.0001907377737087046, 0.0017166399633783413, 0.0001907377737087046, 0.018883039597161755, -0.0745784695201035, 0.04901960784313708] +[2026-09-16 21:51:42,440][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:51:42,440][root][INFO] - starting separate thread for control loop +[2026-09-16 21:51:42,541][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=-0.023842221713588074, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789566702.541447), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789566702.541447), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789566702.541447), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789566702.541447), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.018883039597161755, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789566702.541447), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0745784695201035, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789566702.541447), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04901960784313708, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789566702.541447)] +[2026-09-16 21:51:42,541][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:51:42,541][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0490 +[2026-09-16 21:51:42,541][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:51:43,213][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 21:51:43,513][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:51:44,141][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:51:44,441][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.289730678263524, -0.007057297627218517) +[2026-09-16 21:51:44,441][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28973068 -0.0070573 ] +[2026-09-16 21:51:44,674][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 +[2026-09-16 21:51:44,675][root][INFO] - initializing, .... +[2026-09-16 21:51:44,675][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 +[2026-09-16 21:51:44,675][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:51:44,675][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:51:44,675][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:51:44,675][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:51:44,675][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:51:44,675][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:51:44,675][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:51:44,675][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:51:44,675][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:51:44,676][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:51:44,676][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:51:44,676][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 +[2026-09-16 21:51:44,676][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:51:44,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:51:44,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:44,710][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:51:44,721][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:51:44,732][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:44,743][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:51:44,754][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:51:44,764][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:44,775][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:51:44,786][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:51:44,797][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:44,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:51:44,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:51:44,829][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:44,839][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:51:44,850][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:51:44,861][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:44,872][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:51:44,882][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:51:44,893][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:51:44,904][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:51:44,904][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:51:44,904][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 +[2026-09-16 21:51:44,904][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:51:44,959][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 +[2026-09-16 21:51:45,013][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 +[2026-09-16 21:51:45,067][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 +[2026-09-16 21:51:45,121][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 +[2026-09-16 21:51:45,174][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 +[2026-09-16 21:51:45,228][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 +[2026-09-16 21:51:45,281][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 +[2026-09-16 21:51:45,281][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) +[2026-09-16 21:51:45,282][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:51:45,282][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:51:45,292][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:51:45,345][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:51:45,352][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:51:45,358][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:51:45,364][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:51:45,370][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:51:45,376][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:51:45,382][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=-0.0073260073260073, 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)] +[2026-09-16 21:51:45,382][root][INFO] - current_pos: [-0.027275501640344757, 0.0005722133211261138, 0.0005722133211261138, 0.0013351644159609322, -0.0013351644159609322, 0.07801174944686018, 0.8257038223849857] +[2026-09-16 21:51:45,382][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:51:45,382][root][INFO] - starting separate thread for control loop +[2026-09-16 21:51:45,483][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.027275501640344757, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789566705.483281), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.03418803418803407, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566705.483281), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789566705.483281), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789566705.483281), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789566705.483281), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.07801174944686018, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566705.483281), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.8257038223849857, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789566705.483281)] +[2026-09-16 21:51:45,483][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:51:45,483][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.8257 +[2026-09-16 21:51:45,483][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:51:46,104][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 21:51:46,405][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:51:47,021][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:51:47,322][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.256160830090792, -0.010490577553982305) +[2026-09-16 21:51:47,322][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25616083 -0.01049058] +[2026-09-16 21:51:47,446][root][INFO] - initializing, .... +[2026-09-16 21:51:54,682][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.41 Hz +[2026-09-16 21:51:57,450][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.05 Hz +[2026-09-16 21:52:04,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.49 Hz +[2026-09-16 21:52:07,453][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.73 Hz +[2026-09-16 21:52:12,441][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.87 iterations per second over 30.00 seconds. +[2026-09-16 21:52:12,441][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003986 s, max step_time: 0.075438 s +[2026-09-16 21:52:14,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.05 Hz +[2026-09-16 21:52:15,384][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.59 iterations per second over 30.00 seconds. +[2026-09-16 21:52:15,384][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004055 s, max step_time: 0.078060 s +[2026-09-16 21:52:17,455][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.36 Hz +[2026-09-16 21:52:24,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.76 Hz +[2026-09-16 21:52:27,458][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.35 Hz +[2026-09-16 21:52:34,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.22 Hz +[2026-09-16 21:52:37,460][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.71 Hz +[2026-09-16 21:52:40,596][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] +[2026-09-16 21:52:40,597][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] +[2026-09-16 21:52:42,444][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.58 iterations per second over 30.00 seconds. +[2026-09-16 21:52:42,444][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004007 s, max step_time: 0.046786 s +[2026-09-16 21:52:44,690][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.96 Hz +[2026-09-16 21:52:45,384][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.80 iterations per second over 30.00 seconds. +[2026-09-16 21:52:45,384][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003987 s, max step_time: 0.051904 s +[2026-09-16 21:52:47,463][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.13 Hz +[2026-09-16 21:52:54,691][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.67 Hz +[2026-09-16 21:52:57,465][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.16 Hz +[2026-09-16 21:53:04,691][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.49 Hz +[2026-09-16 21:53:07,467][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.72 Hz +[2026-09-16 21:53:12,447][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.54 iterations per second over 30.00 seconds. +[2026-09-16 21:53:12,447][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003929 s, max step_time: 0.010424 s +[2026-09-16 21:53:14,698][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.57 Hz +[2026-09-16 21:53:15,385][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.56 iterations per second over 30.00 seconds. +[2026-09-16 21:53:15,385][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003975 s, max step_time: 0.010522 s +[2026-09-16 21:53:17,470][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.03 Hz +[2026-09-16 21:53:24,701][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.61 Hz +[2026-09-16 21:53:27,472][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.58 Hz +[2026-09-16 21:53:34,702][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.17 Hz +[2026-09-16 21:53:37,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.73 Hz +[2026-09-16 21:53:42,448][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.99 iterations per second over 30.00 seconds. +[2026-09-16 21:53:42,448][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004049 s, max step_time: 0.009347 s +[2026-09-16 21:53:44,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.63 Hz +[2026-09-16 21:53:45,388][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.48 iterations per second over 30.00 seconds. +[2026-09-16 21:53:45,388][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004057 s, max step_time: 0.010188 s +[2026-09-16 21:53:47,474][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.49 Hz +[2026-09-16 21:53:51,067][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] +[2026-09-16 21:53:51,068][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] +[2026-09-16 21:53:54,705][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.37 Hz +[2026-09-16 21:53:57,477][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.52 Hz +[2026-09-16 21:54:04,708][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.55 Hz +[2026-09-16 21:54:07,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.10 Hz +[2026-09-16 21:54:12,449][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.16 iterations per second over 30.00 seconds. +[2026-09-16 21:54:12,449][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003950 s, max step_time: 0.038747 s +[2026-09-16 21:54:14,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.59 Hz +[2026-09-16 21:54:15,389][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.89 iterations per second over 30.00 seconds. +[2026-09-16 21:54:15,389][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003970 s, max step_time: 0.039319 s +[2026-09-16 21:54:17,481][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.51 Hz +[2026-09-16 21:54:24,712][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.42 Hz +[2026-09-16 21:54:27,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.88 Hz +[2026-09-16 21:54:34,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.72 Hz +[2026-09-16 21:54:37,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.12 Hz +[2026-09-16 21:54:42,452][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.80 iterations per second over 30.00 seconds. +[2026-09-16 21:54:42,452][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004052 s, max step_time: 0.010489 s +[2026-09-16 21:54:44,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 240.86 Hz +[2026-09-16 21:54:45,391][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.38 iterations per second over 30.00 seconds. +[2026-09-16 21:54:45,391][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004059 s, max step_time: 0.012175 s +[2026-09-16 21:54:47,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.89 Hz +[2026-09-16 21:54:54,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.26 Hz +[2026-09-16 21:54:57,492][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.86 Hz +[2026-09-16 21:55:01,074][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] +[2026-09-16 21:55:01,074][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] +[2026-09-16 21:55:04,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.89 Hz +[2026-09-16 21:55:07,493][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.94 Hz +[2026-09-16 21:55:12,453][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.30 iterations per second over 30.00 seconds. +[2026-09-16 21:55:12,453][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003917 s, max step_time: 0.060695 s +[2026-09-16 21:55:14,719][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.47 Hz +[2026-09-16 21:55:15,392][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.76 iterations per second over 30.00 seconds. +[2026-09-16 21:55:15,392][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003925 s, max step_time: 0.065298 s +[2026-09-16 21:55:17,495][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.79 Hz +[2026-09-16 21:55:24,721][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.04 Hz +[2026-09-16 21:55:27,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.12 Hz +[2026-09-16 21:55:34,724][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.81 Hz +[2026-09-16 21:55:37,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.55 Hz +[2026-09-16 21:55:42,457][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.97 iterations per second over 30.00 seconds. +[2026-09-16 21:55:42,457][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 108 times, mean step_time: 0.004033 s, max step_time: 0.012345 s +[2026-09-16 21:55:44,733][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.82 Hz +[2026-09-16 21:55:45,393][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.85 iterations per second over 30.00 seconds. +[2026-09-16 21:55:45,393][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 131 times, mean step_time: 0.004035 s, max step_time: 0.011544 s +[2026-09-16 21:55:47,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.99 Hz +[2026-09-16 21:55:54,733][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.88 Hz +[2026-09-16 21:55:57,507][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.76 Hz +[2026-09-16 21:56:04,736][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.31 Hz +[2026-09-16 21:56:07,507][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.04 Hz +[2026-09-16 21:56:11,218][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] +[2026-09-16 21:56:11,218][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] +[2026-09-16 21:56:12,460][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.54 iterations per second over 30.00 seconds. +[2026-09-16 21:56:12,460][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 137 times, mean step_time: 0.003991 s, max step_time: 0.036186 s +[2026-09-16 21:56:14,740][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.82 Hz +[2026-09-16 21:56:15,396][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.14 iterations per second over 30.00 seconds. +[2026-09-16 21:56:15,396][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 116 times, mean step_time: 0.003966 s, max step_time: 0.038438 s +[2026-09-16 21:56:17,511][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.89 Hz +[2026-09-16 21:56:24,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.41 Hz +[2026-09-16 21:56:27,512][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.68 Hz +[2026-09-16 21:56:34,745][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.14 Hz +[2026-09-16 21:56:37,514][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.95 Hz +[2026-09-16 21:56:42,464][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.60 iterations per second over 30.00 seconds. +[2026-09-16 21:56:42,464][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003867 s, max step_time: 0.010088 s +[2026-09-16 21:56:44,746][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.09 Hz +[2026-09-16 21:56:45,398][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.88 iterations per second over 30.00 seconds. +[2026-09-16 21:56:45,399][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 67 times, mean step_time: 0.003893 s, max step_time: 0.012061 s +[2026-09-16 21:56:47,514][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.00 Hz +[2026-09-16 21:56:54,746][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.89 Hz +[2026-09-16 21:56:57,521][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.00 Hz +[2026-09-16 21:57:04,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.69 Hz +[2026-09-16 21:57:07,520][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.96 Hz +[2026-09-16 21:57:12,465][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.13 iterations per second over 30.00 seconds. +[2026-09-16 21:57:12,465][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 135 times, mean step_time: 0.004014 s, max step_time: 0.016043 s +[2026-09-16 21:57:14,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.29 Hz +[2026-09-16 21:57:15,401][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.14 iterations per second over 30.00 seconds. +[2026-09-16 21:57:15,401][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 149 times, mean step_time: 0.004030 s, max step_time: 0.012501 s +[2026-09-16 21:57:17,520][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.09 Hz +[2026-09-16 21:57:24,754][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.32 Hz +[2026-09-16 21:57:27,525][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 +[2026-09-16 21:57:34,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.57 Hz +[2026-09-16 21:57:37,529][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.42 Hz +[2026-09-16 21:57:42,468][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.81 iterations per second over 30.00 seconds. +[2026-09-16 21:57:42,468][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 76 times, mean step_time: 0.003894 s, max step_time: 0.026423 s +[2026-09-16 21:57:44,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.70 Hz +[2026-09-16 21:57:45,405][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.67 iterations per second over 30.00 seconds. +[2026-09-16 21:57:45,405][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 64 times, mean step_time: 0.003896 s, max step_time: 0.033901 s +[2026-09-16 21:57:47,534][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.20 Hz +[2026-09-16 21:57:54,758][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.94 Hz +[2026-09-16 21:57:57,535][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.33 Hz +[2026-09-16 21:58:04,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.95 Hz +[2026-09-16 21:58:07,409][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.50 iterations per second over 22.00 seconds. +[2026-09-16 21:58:07,415][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.54 iterations per second over 24.95 seconds. +[2026-09-16 21:59:16,678][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:59:16,679][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:59:16,679][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:59:16,679][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:59:16,679][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:59:16,680][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:59:16,680][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:59:16,680][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:59:16,680][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:59:16,681][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:59:16,681][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:59:16,681][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:59:16,681][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:59:16,681][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:59:16,681][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:59:16,681][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} +[2026-09-16 21:59:16,682][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 +[2026-09-16 21:59:16,682][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 +[2026-09-16 21:59:16,682][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:59:16,682][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:59:16,682][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:59:16,682][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:59:16,682][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:59:16,682][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:59:16,682][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:59:16,682][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:59:16,682][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:59:16,682][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:59:16,682][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:59:16,682][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 +[2026-09-16 21:59:16,683][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:59:16,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:59:16,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:59:16,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:59:16,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:59:16,738][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:16,749][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:59:16,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:59:16,771][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:16,782][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:59:16,793][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:59:16,804][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:16,815][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:59:16,826][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:59:16,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:16,848][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:59:16,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:59:16,870][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:16,881][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:59:16,892][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:59:16,904][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:16,914][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:59:16,914][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:59:16,914][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 +[2026-09-16 21:59:16,915][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:59:16,969][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 +[2026-09-16 21:59:17,022][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 +[2026-09-16 21:59:17,076][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 +[2026-09-16 21:59:17,130][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 +[2026-09-16 21:59:17,183][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 +[2026-09-16 21:59:17,237][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 +[2026-09-16 21:59:17,291][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 +[2026-09-16 21:59:17,291][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) +[2026-09-16 21:59:17,291][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:59:17,291][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:59:17,302][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:59:17,307][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:59:17,313][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:59:17,319][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:59:17,325][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:59:17,331][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:59:17,337][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:59:17,343][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=-0.0073260073260073, 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)] +[2026-09-16 21:59:17,344][root][INFO] - current_pos: [-0.03490501258869294, -0.0001907377737087046, 0.0017166399633783413, 0.0005722133211261138, 0.014686808575570254, -0.11654077973601851, 0.022316319523918438] +[2026-09-16 21:59:17,344][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:59:17,344][root][INFO] - starting separate thread for control loop +[2026-09-16 21:59:17,444][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=-0.03490501258869294, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789567157.4444807), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789567157.4444807), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789567157.4444807), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789567157.4444807), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.014686808575570254, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789567157.4444807), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.11654077973601851, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789567157.4444807), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789567157.4444807)] +[2026-09-16 21:59:17,444][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:59:17,444][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-16 21:59:17,444][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:59:18,128][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-16 21:59:18,428][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:59:19,051][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:59:19,351][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.279430838483254, -0.00705729762722207) +[2026-09-16 21:59:19,351][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27943084 -0.0070573 ] +[2026-09-16 21:59:19,588][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 +[2026-09-16 21:59:19,588][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 +[2026-09-16 21:59:19,588][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:59:19,588][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:59:19,588][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:59:19,588][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:59:19,588][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:59:19,588][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:59:19,588][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:59:19,588][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:59:19,588][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:59:19,588][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:59:19,588][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:59:19,588][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 +[2026-09-16 21:59:19,588][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:59:19,590][root][INFO] - initializing, .... +[2026-09-16 21:59:19,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:59:19,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:19,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:59:19,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:59:19,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:19,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:59:19,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:59:19,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:19,685][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:59:19,696][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:59:19,707][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:19,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:59:19,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:59:19,739][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:19,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:59:19,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:59:19,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:19,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:59:19,793][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:59:19,804][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:59:19,815][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:59:19,815][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:59:19,815][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 +[2026-09-16 21:59:19,815][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:59:19,869][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 +[2026-09-16 21:59:19,922][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 +[2026-09-16 21:59:19,976][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 +[2026-09-16 21:59:20,030][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 +[2026-09-16 21:59:20,083][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 +[2026-09-16 21:59:20,137][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 +[2026-09-16 21:59:20,192][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 +[2026-09-16 21:59:20,192][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) +[2026-09-16 21:59:20,193][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:59:20,193][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:59:20,203][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:59:20,208][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:59:20,215][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:59:20,221][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:59:20,227][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:59:20,233][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:59:20,239][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:59:20,245][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=-0.0024420024420024333, 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)] +[2026-09-16 21:59:20,246][root][INFO] - current_pos: [0.03452353704127553, 0.0005722133211261138, 0.0005722133211261138, 0.002861066605630569, -0.04482337682154558, 0.1577401388570987, 0.518997482261387] +[2026-09-16 21:59:20,246][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:59:20,246][root][INFO] - starting separate thread for control loop +[2026-09-16 21:59:20,346][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.03452353704127553, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789567160.3464708), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789567160.3464708), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789567160.3464708), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.002861066605630569, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789567160.3464708), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.04482337682154558, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789567160.3464708), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.1577401388570987, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789567160.3464708), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.518997482261387, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789567160.3464708)] +[2026-09-16 21:59:20,346][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:59:20,346][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.5190 +[2026-09-16 21:59:20,346][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:59:20,963][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:59:21,263][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:59:21,892][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 21:59:22,192][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2519645990692005, -0.01087205310139261) +[2026-09-16 21:59:22,192][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2519646 -0.01087205] +[2026-09-16 21:59:22,323][root][INFO] - initializing, .... +[2026-09-16 21:59:29,593][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.42 Hz +[2026-09-16 21:59:32,326][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.49 Hz +[2026-09-16 21:59:39,596][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.34 Hz +[2026-09-16 21:59:42,326][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.30 Hz +[2026-09-16 21:59:47,346][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.12 iterations per second over 30.00 seconds. +[2026-09-16 21:59:47,365][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003937 s, max step_time: 0.070277 s +[2026-09-16 21:59:49,596][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.18 Hz +[2026-09-16 21:59:50,248][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.38 iterations per second over 30.00 seconds. +[2026-09-16 21:59:50,248][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004009 s, max step_time: 0.069844 s +[2026-09-16 21:59:52,326][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.49 Hz +[2026-09-16 21:59:59,600][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.92 Hz +[2026-09-16 22:00:02,329][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.38 Hz +[2026-09-16 22:00:09,603][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.73 Hz +[2026-09-16 22:00:12,328][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.27 Hz +[2026-09-16 22:00:17,349][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.34 iterations per second over 30.00 seconds. +[2026-09-16 22:00:17,368][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004008 s, max step_time: 0.052813 s +[2026-09-16 22:00:19,603][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.90 Hz +[2026-09-16 22:00:20,248][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.16 iterations per second over 30.00 seconds. +[2026-09-16 22:00:20,249][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003997 s, max step_time: 0.049032 s +[2026-09-16 22:00:22,329][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.08 Hz +[2026-09-16 22:00:29,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.03 Hz +[2026-09-16 22:00:32,331][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.73 Hz +[2026-09-16 22:00:39,607][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.76 Hz +[2026-09-16 22:00:42,332][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.18 Hz +[2026-09-16 22:00:47,352][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.87 iterations per second over 30.00 seconds. +[2026-09-16 22:00:47,969][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003834 s, max step_time: 0.007207 s +[2026-09-16 22:00:49,610][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.73 Hz +[2026-09-16 22:00:50,251][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.28 iterations per second over 30.00 seconds. +[2026-09-16 22:00:52,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.68 Hz +[2026-09-16 22:00:59,612][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.37 Hz +[2026-09-16 22:01:00,979][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] +[2026-09-16 22:01:00,979][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] +[2026-09-16 22:01:02,334][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.05 Hz +[2026-09-16 22:01:09,614][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.62 Hz +[2026-09-16 22:01:12,338][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 +[2026-09-16 22:01:17,355][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.11 iterations per second over 30.00 seconds. +[2026-09-16 22:01:17,972][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003847 s, max step_time: 0.007674 s +[2026-09-16 22:01:19,615][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.37 Hz +[2026-09-16 22:01:20,253][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.98 iterations per second over 30.00 seconds. +[2026-09-16 22:01:22,340][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.73 Hz +[2026-09-16 22:01:27,239][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003853 s, max step_time: 0.007190 s +[2026-09-16 22:01:29,616][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.76 Hz +[2026-09-16 22:01:32,344][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.60 Hz +[2026-09-16 22:01:39,617][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.40 Hz +[2026-09-16 22:01:42,344][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.10 Hz +[2026-09-16 22:01:47,358][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.41 iterations per second over 30.00 seconds. +[2026-09-16 22:01:49,618][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.96 Hz +[2026-09-16 22:01:50,253][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.77 iterations per second over 30.00 seconds. +[2026-09-16 22:01:52,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.58 Hz +[2026-09-16 22:01:57,242][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003877 s, max step_time: 0.007040 s +[2026-09-16 22:01:59,620][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.23 Hz +[2026-09-16 22:02:02,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.98 Hz +[2026-09-16 22:02:09,621][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.39 Hz +[2026-09-16 22:02:12,349][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.01 Hz +[2026-09-16 22:02:17,360][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.92 iterations per second over 30.00 seconds. +[2026-09-16 22:02:19,624][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.13 Hz +[2026-09-16 22:02:20,255][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.42 iterations per second over 30.00 seconds. +[2026-09-16 22:02:22,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.64 Hz +[2026-09-16 22:02:29,627][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.90 Hz +[2026-09-16 22:02:32,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.32 Hz +[2026-09-16 22:02:33,330][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003839 s, max step_time: 0.007345 s +[2026-09-16 22:02:39,631][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.21 Hz +[2026-09-16 22:02:42,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.13 Hz +[2026-09-16 22:02:47,363][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.94 iterations per second over 30.00 seconds. +[2026-09-16 22:02:48,163][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003844 s, max step_time: 0.008253 s +[2026-09-16 22:02:49,633][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.24 Hz +[2026-09-16 22:02:50,258][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.77 iterations per second over 30.00 seconds. +[2026-09-16 22:02:52,358][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.56 Hz +[2026-09-16 22:02:59,636][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.72 Hz +[2026-09-16 22:03:02,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.54 Hz +[2026-09-16 22:03:03,331][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003860 s, max step_time: 0.009900 s +[2026-09-16 22:03:09,638][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.94 Hz +[2026-09-16 22:03:12,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.16 Hz +[2026-09-16 22:03:17,365][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.11 iterations per second over 30.00 seconds. +[2026-09-16 22:03:18,165][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003828 s, max step_time: 0.011310 s +[2026-09-16 22:03:19,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.68 Hz +[2026-09-16 22:03:20,261][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.74 iterations per second over 30.00 seconds. +[2026-09-16 22:03:22,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.34 Hz +[2026-09-16 22:03:29,641][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.26 Hz +[2026-09-16 22:03:32,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.38 Hz +[2026-09-16 22:03:33,332][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.003847 s, max step_time: 0.009190 s +[2026-09-16 22:03:39,643][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.14 Hz +[2026-09-16 22:03:42,366][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.07 Hz +[2026-09-16 22:03:47,366][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.96 iterations per second over 30.00 seconds. +[2026-09-16 22:03:48,168][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003850 s, max step_time: 0.009017 s +[2026-09-16 22:03:49,644][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.47 Hz +[2026-09-16 22:03:50,263][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.78 iterations per second over 30.00 seconds. +[2026-09-16 22:03:52,366][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.30 Hz +[2026-09-16 22:03:59,645][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.77 Hz +[2026-09-16 22:04:02,367][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.27 Hz +[2026-09-16 22:04:03,335][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 41 times, mean step_time: 0.003853 s, max step_time: 0.009351 s +[2026-09-16 22:04:09,646][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.68 Hz +[2026-09-16 22:04:12,369][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.27 Hz +[2026-09-16 22:04:17,370][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.27 iterations per second over 30.00 seconds. +[2026-09-16 22:04:18,170][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003825 s, max step_time: 0.011266 s +[2026-09-16 22:04:19,652][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.41 Hz +[2026-09-16 22:04:20,268][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.49 iterations per second over 30.01 seconds. +[2026-09-16 22:04:22,369][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.09 Hz +[2026-09-16 22:04:29,652][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.75 Hz +[2026-09-16 22:04:32,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.15 Hz +[2026-09-16 22:04:33,336][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003846 s, max step_time: 0.008858 s +[2026-09-16 22:04:39,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.82 Hz +[2026-09-16 22:04:42,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.35 Hz +[2026-09-16 22:04:47,370][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.03 iterations per second over 30.00 seconds. +[2026-09-16 22:04:48,172][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.003860 s, max step_time: 0.009533 s +[2026-09-16 22:04:49,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.29 Hz +[2026-09-16 22:04:50,271][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.18 iterations per second over 30.00 seconds. +[2026-09-16 22:04:52,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.98 Hz +[2026-09-16 22:04:59,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.70 Hz +[2026-09-16 22:05:02,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.11 Hz +[2026-09-16 22:05:03,336][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 41 times, mean step_time: 0.003863 s, max step_time: 0.010315 s +[2026-09-16 22:05:09,658][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.82 Hz +[2026-09-16 22:05:12,380][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.11 Hz +[2026-09-16 22:05:17,372][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.69 iterations per second over 30.00 seconds. +[2026-09-16 22:05:18,175][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003854 s, max step_time: 0.010345 s +[2026-09-16 22:05:19,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.31 Hz +[2026-09-16 22:05:20,275][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.50 iterations per second over 30.00 seconds. +[2026-09-16 22:05:22,383][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.74 Hz +[2026-09-16 22:05:29,664][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.43 Hz +[2026-09-16 22:05:32,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.95 Hz +[2026-09-16 22:05:33,339][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003853 s, max step_time: 0.009336 s +[2026-09-16 22:05:39,665][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.19 Hz +[2026-09-16 22:05:42,388][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.00 Hz +[2026-09-16 22:05:47,372][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.37 iterations per second over 30.00 seconds. +[2026-09-16 22:05:48,177][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003838 s, max step_time: 0.007194 s +[2026-09-16 22:05:49,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.67 Hz +[2026-09-16 22:05:50,277][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.48 iterations per second over 30.00 seconds. +[2026-09-16 22:05:52,390][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.56 Hz +[2026-09-16 22:05:59,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.97 Hz +[2026-09-16 22:06:02,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.59 Hz +[2026-09-16 22:06:03,342][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003839 s, max step_time: 0.009673 s +[2026-09-16 22:06:09,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.77 Hz +[2026-09-16 22:06:12,396][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.44 Hz +[2026-09-16 22:06:17,372][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.40 iterations per second over 30.00 seconds. +[2026-09-16 22:06:19,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.28 Hz +[2026-09-16 22:06:20,280][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.50 iterations per second over 30.00 seconds. +[2026-09-16 22:06:22,399][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.93 Hz +[2026-09-16 22:06:24,692][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003812 s, max step_time: 0.007007 s +[2026-09-16 22:06:29,670][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.49 Hz +[2026-09-16 22:06:32,402][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.87 Hz +[2026-09-16 22:06:33,343][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003842 s, max step_time: 0.007088 s +[2026-09-16 22:06:39,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.69 Hz +[2026-09-16 22:06:42,402][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.66 Hz +[2026-09-16 22:06:47,373][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.99 iterations per second over 30.00 seconds. +[2026-09-16 22:06:49,671][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.17 Hz +[2026-09-16 22:06:50,280][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.60 iterations per second over 30.00 seconds. +[2026-09-16 22:06:52,404][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.02 Hz +[2026-09-16 22:06:54,693][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003873 s, max step_time: 0.007561 s +[2026-09-16 22:06:59,673][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.16 Hz +[2026-09-16 22:07:02,407][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.74 Hz +[2026-09-16 22:07:05,354][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003868 s, max step_time: 0.007729 s +[2026-09-16 22:07:09,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.05 Hz +[2026-09-16 22:07:12,408][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.09 Hz +[2026-09-16 22:07:17,374][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.80 iterations per second over 30.00 seconds. +[2026-09-16 22:07:19,676][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.47 Hz +[2026-09-16 22:07:20,281][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.20 iterations per second over 30.00 seconds. +[2026-09-16 22:07:22,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.64 Hz +[2026-09-16 22:07:24,694][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003912 s, max step_time: 0.009035 s +[2026-09-16 22:07:29,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.05 Hz +[2026-09-16 22:07:32,413][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.27 Hz +[2026-09-16 22:07:35,355][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004004 s, max step_time: 0.009335 s +[2026-09-16 22:07:39,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.39 Hz +[2026-09-16 22:07:42,413][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.68 Hz +[2026-09-16 22:07:47,376][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.95 iterations per second over 30.00 seconds. +[2026-09-16 22:07:49,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.05 Hz +[2026-09-16 22:07:50,284][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.41 iterations per second over 30.00 seconds. +[2026-09-16 22:07:52,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.96 Hz +[2026-09-16 22:07:54,695][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004041 s, max step_time: 0.009542 s +[2026-09-16 22:07:59,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.64 Hz +[2026-09-16 22:08:02,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.09 Hz +[2026-09-16 22:08:05,358][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.004064 s, max step_time: 0.010224 s +[2026-09-16 22:08:09,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.82 Hz +[2026-09-16 22:08:11,649][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] +[2026-09-16 22:08:11,649][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] +[2026-09-16 22:08:12,417][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.44 Hz +[2026-09-16 22:08:17,380][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.33 iterations per second over 30.00 seconds. +[2026-09-16 22:08:19,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.16 Hz +[2026-09-16 22:08:20,286][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.65 iterations per second over 30.00 seconds. +[2026-09-16 22:08:22,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.99 Hz +[2026-09-16 22:08:24,696][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003971 s, max step_time: 0.041544 s +[2026-09-16 22:08:29,690][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.86 Hz +[2026-09-16 22:08:32,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.44 Hz +[2026-09-16 22:08:35,361][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003964 s, max step_time: 0.061087 s +[2026-09-16 22:08:39,688][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.59 Hz +[2026-09-16 22:08:42,423][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.39 Hz +[2026-09-16 22:08:47,383][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.44 iterations per second over 30.00 seconds. +[2026-09-16 22:08:49,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.28 Hz +[2026-09-16 22:08:50,287][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.33 iterations per second over 30.00 seconds. +[2026-09-16 22:08:52,426][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.75 Hz +[2026-09-16 22:08:54,696][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 79 times, mean step_time: 0.004010 s, max step_time: 0.014859 s +[2026-09-16 22:08:59,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.52 Hz +[2026-09-16 22:09:02,429][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.62 Hz +[2026-09-16 22:09:05,364][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 118 times, mean step_time: 0.004004 s, max step_time: 0.034629 s +[2026-09-16 22:09:09,694][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.25 Hz +[2026-09-16 22:09:12,429][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.07 Hz +[2026-09-16 22:09:17,385][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.25 iterations per second over 30.00 seconds. +[2026-09-16 22:09:19,696][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.77 Hz +[2026-09-16 22:09:20,287][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.66 iterations per second over 30.00 seconds. +[2026-09-16 22:09:22,432][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.63 Hz +[2026-09-16 22:09:24,698][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 76 times, mean step_time: 0.003898 s, max step_time: 0.038364 s +[2026-09-16 22:09:29,698][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.85 Hz +[2026-09-16 22:09:32,435][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.11 Hz +[2026-09-16 22:09:35,364][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 54 times, mean step_time: 0.003869 s, max step_time: 0.010702 s +[2026-09-16 22:09:39,700][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.16 Hz +[2026-09-16 22:09:42,437][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.55 Hz +[2026-09-16 22:09:43,800][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.92 iterations per second over 23.51 seconds. +[2026-09-16 22:09:43,805][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.34 iterations per second over 26.42 seconds. +[2026-09-16 22:09:46,611][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 22:09:46,612][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 22:09:46,612][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 22:09:46,612][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 22:09:46,612][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 22:09:46,612][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 22:09:46,612][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 22:09:46,612][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 22:09:46,613][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 22:09:46,614][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 22:09:46,614][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 22:09:46,614][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 22:09:46,614][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 22:09:46,614][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 22:09:46,614][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 22:09:46,614][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} +[2026-09-16 22:09:46,614][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 +[2026-09-16 22:09:46,615][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 +[2026-09-16 22:09:46,615][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:09:46,615][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:09:46,615][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:09:46,615][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:09:46,615][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:09:46,615][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:09:46,615][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:09:46,615][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:09:46,615][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:09:46,615][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:09:46,615][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 22:09:46,615][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 +[2026-09-16 22:09:46,616][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:09:46,627][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:09:46,638][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 22:09:46,649][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:09:46,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:09:46,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:46,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:09:46,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:09:46,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:46,715][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:09:46,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:09:46,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:46,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:09:46,759][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:09:46,769][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:46,780][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:09:46,791][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:09:46,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:46,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:09:46,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:09:46,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:46,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:09:46,845][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 22:09:46,845][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 +[2026-09-16 22:09:46,846][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:09:46,900][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 +[2026-09-16 22:09:46,954][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 +[2026-09-16 22:09:47,008][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 +[2026-09-16 22:09:47,062][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 +[2026-09-16 22:09:47,117][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 +[2026-09-16 22:09:47,171][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 +[2026-09-16 22:09:47,225][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 +[2026-09-16 22:09:47,226][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) +[2026-09-16 22:09:47,226][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:09:47,226][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:09:47,236][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:09:47,241][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:09:47,249][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:09:47,255][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:09:47,261][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:09:47,267][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:09:47,273][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:09:47,279][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=-0.0073260073260073, 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)] +[2026-09-16 22:09:47,279][root][INFO] - current_pos: [0.0017166399633783413, -0.0001907377737087046, 0.0013351644159609322, 0.010490577553978753, -0.08182650492103427, 0.05931944762340713, 0.0001907377737087046] +[2026-09-16 22:09:47,279][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:09:47,279][root][INFO] - starting separate thread for control loop +[2026-09-16 22:09:47,379][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789567787.379687), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=29.0, timestamp=1789567787.379687), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789567787.379687), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.010490577553978753, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789567787.379687), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.08182650492103427, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789567787.379687), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.05931944762340713, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789567787.379687), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.0073260073260073, pos=0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789567787.379687)] +[2026-09-16 22:09:47,379][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:09:47,379][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0002 +[2026-09-16 22:09:47,379][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:09:48,061][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 22:09:48,361][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:09:48,990][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 +[2026-09-16 22:09:49,290][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.279812314030671, -0.006675822079804661) +[2026-09-16 22:09:49,291][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27981231 -0.00667582] +[2026-09-16 22:09:49,532][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 +[2026-09-16 22:09:49,532][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 +[2026-09-16 22:09:49,532][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:09:49,532][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:09:49,532][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:09:49,532][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:09:49,532][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:09:49,532][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:09:49,532][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:09:49,532][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:09:49,533][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:09:49,533][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:09:49,533][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 22:09:49,533][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 +[2026-09-16 22:09:49,533][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:09:49,533][root][INFO] - initializing, .... +[2026-09-16 22:09:49,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:09:49,556][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:49,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:09:49,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:09:49,589][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:49,600][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:09:49,611][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:09:49,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:49,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:09:49,643][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:09:49,654][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:49,665][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:09:49,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:09:49,686][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:49,697][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:09:49,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:09:49,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:49,729][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:09:49,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:09:49,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:09:49,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:09:49,761][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 22:09:49,762][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 +[2026-09-16 22:09:49,762][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:09:49,815][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 +[2026-09-16 22:09:49,869][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 +[2026-09-16 22:09:49,923][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 +[2026-09-16 22:09:49,977][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 +[2026-09-16 22:09:50,031][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 +[2026-09-16 22:09:50,085][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 +[2026-09-16 22:09:50,139][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 +[2026-09-16 22:09:50,139][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) +[2026-09-16 22:09:50,139][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:09:50,139][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:09:50,150][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:09:50,155][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:09:50,161][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:09:50,167][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:09:50,173][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:09:50,179][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:09:50,185][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:09:50,191][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=0.0024420024420024333, 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)] +[2026-09-16 22:09:50,191][root][INFO] - current_pos: [-0.0207904173342488, 0.0005722133211261138, 0.000953688868543523, 0.0001907377737087046, -0.022697795071335847, 0.05283436331731117, 0.6269550621805138] +[2026-09-16 22:09:50,191][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:09:50,191][root][INFO] - starting separate thread for control loop +[2026-09-16 22:09:50,291][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=-0.0207904173342488, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789567790.2915945), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789567790.2915945), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789567790.2915945), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1789567790.2915945), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=-0.022697795071335847, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789567790.2915945), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.05283436331731117, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789567790.2915945), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.6269550621805138, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789567790.2915945)] +[2026-09-16 22:09:50,291][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:09:50,291][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.6270 +[2026-09-16 22:09:50,291][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:09:50,908][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 22:09:51,209][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:09:51,827][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 22:09:52,127][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2519645990692005, -0.010490577553978753) +[2026-09-16 22:09:52,127][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2519646 -0.01049058] +[2026-09-16 22:09:52,251][root][INFO] - initializing, .... +[2026-09-16 22:09:59,536][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.37 Hz +[2026-09-16 22:10:02,256][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.55 Hz +[2026-09-16 22:10:09,539][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.01 Hz +[2026-09-16 22:10:12,259][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.52 Hz +[2026-09-16 22:10:17,282][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.97 iterations per second over 30.00 seconds. +[2026-09-16 22:10:17,283][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003968 s, max step_time: 0.074561 s +[2026-09-16 22:10:19,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.15 Hz +[2026-09-16 22:10:20,192][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.80 iterations per second over 30.00 seconds. +[2026-09-16 22:10:20,192][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.004051 s, max step_time: 0.072964 s +[2026-09-16 22:10:22,262][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.33 Hz +[2026-09-16 22:10:29,544][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.93 Hz +[2026-09-16 22:10:32,265][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.72 Hz +[2026-09-16 22:10:39,544][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.80 Hz +[2026-09-16 22:10:42,328][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.95 Hz +[2026-09-16 22:10:45,738][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] +[2026-09-16 22:10:45,738][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] +[2026-09-16 22:10:47,285][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.92 iterations per second over 30.00 seconds. +[2026-09-16 22:10:47,285][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003970 s, max step_time: 0.046025 s +[2026-09-16 22:10:49,546][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.06 Hz +[2026-09-16 22:10:50,194][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.42 iterations per second over 30.00 seconds. +[2026-09-16 22:10:50,194][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003962 s, max step_time: 0.044370 s +[2026-09-16 22:10:52,302][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.23 Hz +[2026-09-16 22:10:59,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.44 Hz +[2026-09-16 22:11:02,303][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.89 Hz +[2026-09-16 22:11:09,551][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.73 Hz +[2026-09-16 22:11:12,302][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.09 Hz +[2026-09-16 22:11:17,288][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.71 iterations per second over 30.00 seconds. +[2026-09-16 22:11:17,288][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003851 s, max step_time: 0.013018 s +[2026-09-16 22:11:19,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.06 Hz +[2026-09-16 22:11:20,196][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.78 iterations per second over 30.00 seconds. +[2026-09-16 22:11:20,196][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003879 s, max step_time: 0.015987 s +[2026-09-16 22:11:22,305][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.97 Hz +[2026-09-16 22:11:29,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.62 Hz +[2026-09-16 22:11:32,304][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.80 Hz +[2026-09-16 22:11:39,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.02 Hz +[2026-09-16 22:11:42,308][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.85 Hz +[2026-09-16 22:11:47,291][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.54 iterations per second over 30.00 seconds. +[2026-09-16 22:11:47,291][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004024 s, max step_time: 0.009024 s +[2026-09-16 22:11:49,561][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.04 Hz +[2026-09-16 22:11:50,198][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.18 iterations per second over 30.00 seconds. +[2026-09-16 22:11:50,198][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004046 s, max step_time: 0.009585 s +[2026-09-16 22:11:52,308][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.55 Hz +[2026-09-16 22:11:59,564][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.23 Hz +[2026-09-16 22:12:02,311][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.50 Hz +[2026-09-16 22:12:09,167][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] +[2026-09-16 22:12:09,167][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] +[2026-09-16 22:12:09,566][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.56 Hz +[2026-09-16 22:12:12,314][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.23 Hz +[2026-09-16 22:12:17,294][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.94 iterations per second over 30.00 seconds. +[2026-09-16 22:12:17,294][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003892 s, max step_time: 0.034675 s +[2026-09-16 22:12:19,569][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.72 Hz +[2026-09-16 22:12:20,200][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.96 iterations per second over 30.00 seconds. +[2026-09-16 22:12:20,200][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003877 s, max step_time: 0.030252 s +[2026-09-16 22:12:22,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.29 Hz +[2026-09-16 22:12:29,572][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.14 Hz +[2026-09-16 22:12:32,317][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.87 Hz +[2026-09-16 22:12:33,568][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.43 iterations per second over 13.37 seconds. +[2026-09-16 22:12:33,573][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.13 iterations per second over 16.28 seconds. +[2026-09-16 22:12:39,752][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 22:12:39,753][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 22:12:39,753][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 22:12:39,753][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 22:12:39,753][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 22:12:39,753][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 22:12:39,753][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 22:12:39,753][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 22:12:39,753][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 22:12:39,754][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 22:12:39,754][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 22:12:39,754][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 22:12:39,754][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 22:12:39,754][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 22:12:39,755][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 22:12:39,755][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} +[2026-09-16 22:12:39,755][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 +[2026-09-16 22:12:39,755][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 +[2026-09-16 22:12:39,755][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:12:39,755][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:12:39,756][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:12:39,756][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:12:39,756][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:12:39,756][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:12:39,756][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:12:39,756][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:12:39,756][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:12:39,756][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:12:39,756][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 22:12:39,756][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 +[2026-09-16 22:12:39,757][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:12:39,768][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:12:39,779][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 22:12:39,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:12:39,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:12:39,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:39,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:12:39,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:12:39,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:39,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:12:39,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:12:39,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:39,889][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:12:39,900][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:12:39,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:39,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:12:39,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:12:39,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:39,955][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:12:39,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:12:39,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:39,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:12:39,988][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 22:12:39,988][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 +[2026-09-16 22:12:39,988][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:12:40,042][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 +[2026-09-16 22:12:40,096][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 +[2026-09-16 22:12:40,150][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 +[2026-09-16 22:12:40,204][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 +[2026-09-16 22:12:40,257][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 +[2026-09-16 22:12:40,311][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 +[2026-09-16 22:12:40,365][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 +[2026-09-16 22:12:40,365][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) +[2026-09-16 22:12:40,366][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:12:40,366][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:12:40,376][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:12:40,382][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:12:40,388][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:12:40,394][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:12:40,400][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:12:40,406][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:12:40,412][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:12:40,418][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=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, 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)] +[2026-09-16 22:12:40,418][root][INFO] - current_pos: [-0.0413900968947889, -0.000953688868543523, 0.0017166399633783413, 0.0005722133211261138, -0.006675822079804661, -0.018883039597161755, 0.029564354924849212] +[2026-09-16 22:12:40,418][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:12:40,418][root][INFO] - starting separate thread for control loop +[2026-09-16 22:12:40,518][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=-0.04177157244220986, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789567960.518631), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789567960.518631), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789567960.518631), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1789567960.518631), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.006675822079804661, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789567960.518631), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.018883039597161755, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789567960.518631), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.029564354924849212, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789567960.518631)] +[2026-09-16 22:12:40,518][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:12:40,518][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0296 +[2026-09-16 22:12:40,518][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:12:41,198][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 22:12:41,498][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:12:42,120][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 +[2026-09-16 22:12:42,420][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.279430838483254, -0.00705729762722207) +[2026-09-16 22:12:42,420][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27943084 -0.0070573 ] +[2026-09-16 22:12:42,664][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 +[2026-09-16 22:12:42,664][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 +[2026-09-16 22:12:42,664][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:12:42,664][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:12:42,664][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:12:42,664][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:12:42,664][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:12:42,664][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:12:42,664][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:12:42,664][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:12:42,664][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:12:42,664][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:12:42,664][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 22:12:42,664][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 +[2026-09-16 22:12:42,664][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:12:42,666][root][INFO] - initializing, .... +[2026-09-16 22:12:42,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:12:42,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:42,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:12:42,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:12:42,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:42,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:12:42,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:12:42,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:42,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:12:42,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:12:42,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:42,795][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:12:42,806][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:12:42,817][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:42,827][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:12:42,838][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:12:42,849][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:42,860][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:12:42,870][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:12:42,881][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:12:42,892][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:12:42,892][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 22:12:42,892][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 +[2026-09-16 22:12:42,893][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:12:42,946][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 +[2026-09-16 22:12:43,000][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 +[2026-09-16 22:12:43,055][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 +[2026-09-16 22:12:43,109][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 +[2026-09-16 22:12:43,164][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 +[2026-09-16 22:12:43,219][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 +[2026-09-16 22:12:43,274][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 +[2026-09-16 22:12:43,274][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) +[2026-09-16 22:12:43,275][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:12:43,275][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:12:43,286][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:12:43,292][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:12:43,298][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:12:43,304][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:12:43,310][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:12:43,317][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:12:43,324][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:12:43,331][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=-0.06153846153846132, 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)] +[2026-09-16 22:12:43,331][root][INFO] - current_pos: [0.03643091477836258, -0.000953688868543523, 0.000953688868543523, 0.0005722133211261138, -0.023842221713588074, 0.018501564049744346, 0.06961928740367718] +[2026-09-16 22:12:43,331][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:12:43,331][root][INFO] - starting separate thread for control loop +[2026-09-16 22:12:43,432][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.03643091477836258, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789567963.4320407), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.07521367521367495, pos=-0.0013351644159644849, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789567963.4320407), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789567963.4320407), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789567963.4320407), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.023842221713588074, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789567963.4320407), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.018501564049744346, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789567963.4320407), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.06923781185625977, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789567963.4320407)] +[2026-09-16 22:12:43,433][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:12:43,433][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0692 +[2026-09-16 22:12:43,433][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:12:44,118][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 22:12:44,419][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:12:45,040][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 22:12:45,341][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2519645990692005, -0.01087205310139261) +[2026-09-16 22:12:45,341][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2519646 -0.01087205] +[2026-09-16 22:12:45,473][root][INFO] - initializing, .... +[2026-09-16 22:12:52,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.99 Hz +[2026-09-16 22:12:55,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.20 Hz +[2026-09-16 22:13:02,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.24 Hz +[2026-09-16 22:13:05,477][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.84 Hz +[2026-09-16 22:13:10,420][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.35 iterations per second over 30.00 seconds. +[2026-09-16 22:13:10,421][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003947 s, max step_time: 0.067647 s +[2026-09-16 22:13:12,672][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.92 Hz +[2026-09-16 22:13:13,332][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.89 iterations per second over 30.00 seconds. +[2026-09-16 22:13:13,332][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.004017 s, max step_time: 0.068040 s +[2026-09-16 22:13:15,480][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.34 Hz +[2026-09-16 22:13:22,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.52 Hz +[2026-09-16 22:13:25,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.05 Hz +[2026-09-16 22:13:32,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.97 Hz +[2026-09-16 22:13:35,484][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.64 Hz +[2026-09-16 22:13:40,422][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.45 iterations per second over 30.00 seconds. +[2026-09-16 22:13:40,422][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003993 s, max step_time: 0.041024 s +[2026-09-16 22:13:40,801][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] +[2026-09-16 22:13:40,801][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] +[2026-09-16 22:13:42,676][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.20 Hz +[2026-09-16 22:13:43,335][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.64 iterations per second over 30.00 seconds. +[2026-09-16 22:13:43,335][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003974 s, max step_time: 0.053930 s +[2026-09-16 22:13:45,484][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.79 Hz +[2026-09-16 22:13:52,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.47 Hz +[2026-09-16 22:13:55,487][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.85 Hz +[2026-09-16 22:14:02,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.39 Hz +[2026-09-16 22:14:05,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.71 Hz +[2026-09-16 22:14:10,425][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.48 iterations per second over 30.00 seconds. +[2026-09-16 22:14:10,425][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003899 s, max step_time: 0.011884 s +[2026-09-16 22:14:12,682][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.23 Hz +[2026-09-16 22:14:13,336][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.96 iterations per second over 30.00 seconds. +[2026-09-16 22:14:13,336][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003938 s, max step_time: 0.010781 s +[2026-09-16 22:14:15,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.66 Hz +[2026-09-16 22:14:22,682][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.65 Hz +[2026-09-16 22:14:25,496][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.41 Hz +[2026-09-16 22:14:32,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.94 Hz +[2026-09-16 22:14:35,498][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.03 Hz +[2026-09-16 22:14:40,426][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.46 iterations per second over 30.00 seconds. +[2026-09-16 22:14:40,426][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004025 s, max step_time: 0.010134 s +[2026-09-16 22:14:42,688][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.84 Hz +[2026-09-16 22:14:43,338][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.58 iterations per second over 30.00 seconds. +[2026-09-16 22:14:43,338][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.004023 s, max step_time: 0.008453 s +[2026-09-16 22:14:45,501][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.24 Hz +[2026-09-16 22:14:52,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.17 Hz +[2026-09-16 22:14:55,502][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 +[2026-09-16 22:14:57,535][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] +[2026-09-16 22:14:57,535][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] +[2026-09-16 22:15:02,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.78 Hz +[2026-09-16 22:15:05,504][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.45 Hz +[2026-09-16 22:15:10,426][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.50 iterations per second over 30.00 seconds. +[2026-09-16 22:15:10,426][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003929 s, max step_time: 0.040216 s +[2026-09-16 22:15:12,690][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.39 Hz +[2026-09-16 22:15:13,339][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.02 iterations per second over 30.00 seconds. +[2026-09-16 22:15:13,339][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003921 s, max step_time: 0.035917 s +[2026-09-16 22:15:15,507][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.81 Hz +[2026-09-16 22:15:22,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.81 Hz +[2026-09-16 22:15:25,511][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.42 Hz +[2026-09-16 22:15:32,696][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.82 Hz +[2026-09-16 22:15:35,512][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.65 Hz +[2026-09-16 22:15:40,427][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.26 iterations per second over 30.00 seconds. +[2026-09-16 22:15:40,427][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003996 s, max step_time: 0.042732 s +[2026-09-16 22:15:42,698][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.06 Hz +[2026-09-16 22:15:43,340][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.82 iterations per second over 30.00 seconds. +[2026-09-16 22:15:43,340][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004003 s, max step_time: 0.036024 s +[2026-09-16 22:15:45,513][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.80 Hz +[2026-09-16 22:15:52,702][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.60 Hz +[2026-09-16 22:15:55,514][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.97 Hz +[2026-09-16 22:16:02,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.98 Hz +[2026-09-16 22:16:05,516][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.54 Hz +[2026-09-16 22:16:05,811][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.42 iterations per second over 22.47 seconds. +[2026-09-16 22:16:05,818][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.79 iterations per second over 25.39 seconds. diff --git a/eval/YAM/V2/dp/open_baozi/metadata/rounds.json b/eval/YAM/V2/dp/open_baozi/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..9ddb5be94f2fe92733a952d469dddd54c7501c2f --- /dev/null +++ b/eval/YAM/V2/dp/open_baozi/metadata/rounds.json @@ -0,0 +1,180 @@ +{ + "rounds": [ + { + "actions_sent": 960, + "chunks": 30, + "data_saved": true, + "operator_result": "success", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0001", + "reviewed_at_ns": 1789565242132610738, + "round_number": 1, + "status": "completed", + "task_success": true + }, + { + "actions_sent": 960, + "chunks": 30, + "data_saved": true, + "operator_result": "failure", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0002", + "reviewed_at_ns": 1789565405972346882, + "round_number": 2, + "status": "completed", + "task_success": false + }, + { + "actions_sent": 960, + "chunks": 30, + "data_saved": true, + "operator_result": "success", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0003", + "reviewed_at_ns": 1789565484250497778, + "round_number": 3, + "status": "completed", + "task_success": true + }, + { + "actions_sent": 960, + "chunks": 30, + "data_saved": true, + "operator_result": "failure", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0004", + "reviewed_at_ns": 1789565635628783490, + "round_number": 4, + "status": "completed", + "task_success": false + }, + { + "actions_sent": 544, + "chunks": 17, + "data_saved": true, + "operator_result": "failure", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0005", + "reviewed_at_ns": 1789566254138848180, + "round_number": 5, + "status": "failed", + "task_success": false + }, + { + "actions_sent": 960, + "chunks": 30, + "data_saved": true, + "operator_result": "failure", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0006", + "reviewed_at_ns": 1789566829156017611, + "round_number": 6, + "status": "completed", + "task_success": false + }, + { + "actions_sent": 960, + "chunks": 30, + "data_saved": true, + "operator_result": "success", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0007", + "reviewed_at_ns": 1789566895310579959, + "round_number": 7, + "status": "completed", + "task_success": true + }, + { + "actions_sent": 960, + "chunks": 30, + "data_saved": true, + "operator_result": "success", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/open_baozi/data/round_0008", + "reviewed_at_ns": 1789566969631419003, + "round_number": 8, + "status": "completed", + "task_success": true + }, + { + "actions_sent": 576, + "chunks": 18, + "data_saved": true, + "operator_result": "failure", + "output_dir": 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