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a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/.hydra/config.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..01d0589913f2006dfc59d5e3e8cb9ff43d15e118 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,238 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the right arm to pick up the pomegranate and place it in the bowl. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.40147251009941104 + - 0.618776296377182 + - 0.5956588095426559 + - 0.4531014055013657 + - 1.0002136100828647 + - 1.5542610847949982 + - 0.13904411427676677 + - 0.53632409773767 + - 0.711245882511139 + - 0.9085143971443176 + - 0.6218586921691894 + - 2.1306553721427917 + - 0.9146791793219745 + - 0.14422834947705268 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c48ed06e7d91e0a5664c69ed71c8ddf4c9fb9a1a --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Use the right arm to pick up the pomegranate and place it in + the bowl." + - run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use + the right arm to pick up the pomegranate and place it in the bowl.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate,run.steps=40 + id: ??? + num: ??? + config_name: openpi_pi0_gesim_v3_four_tasks_5000 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..35047dcb00733a83468dffbdef814da869c6618a --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Use the right arm to pick up the pomegranate and place it in the + bowl." +- run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/data/round_0001/action/executed_action_dict.pkl b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/data/round_0001/action/executed_action_dict.pkl new file mode 100644 index 0000000000000000000000000000000000000000..7edb64c4ed4fd32e244650d26c2f5518d35c5b33 Binary files /dev/null and b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/data/round_0001/action/executed_action_dict.pkl differ diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/data/round_0001/camera/metadata.json b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/data/round_0001/camera/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4b29fbe4fe28939c588702edbdffed12c8e191c7 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/data/round_0001/camera/metadata.json @@ -0,0 +1,59 @@ +{ + "base_0_rgb": { + "codec": "h264", + "container": "mp4", + "encoder": "libx264", + "encoding": "bgr8", + "frames": 176, + "height": 480, + "lossless": false, + "pixel_format": "yuv420p", + "quality": { + "mode": "crf", + 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recent call last):\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 603, in run_from_config\n decision = await_operator(control, preview, check, run, manifest, save_handover)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_handover.py\", line 186, in await_operator\n check() # Includes live hold heartbeat until direct teaching is confirmed.\n ^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 403, in check\n check_policy_control(hardware.robot_driver._policy_control)\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 169, in check_policy_control\n control.check()\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/nodes/robots/yam_policy_control.py\", line 141, in check\n raise RuntimeError(self.fault)\nRuntimeError: position limit exceeded at indices [13]: positions=[0.09609734897870484], bounds=[[0.0, 0.096]]; source=measured_feedback, mode=drag\n", + "hardware_at_failure": { + "details": { + "cleanup_errors": [], + "robot_client": { + "action_space": "abs_qpos", + "closed": false, + "command_source": "yam_workflow", + "control_topic": "/prometheus/robots/yam/control", + "request_id": "", + "result_topic": "/prometheus/robots/yam/control_result", + "ros_domain_id": 21, + "type": "RobotControlClient" + }, + "robot_driver": { + "action_dim": 14, + "action_space": "abs_qpos", + "collection_mode": "policy", + "connected": true, + "control_hz": 120.0, + "errors": {}, + "follower_can": { + "left": "can_follower_l", + "right": "can_follower_r" + }, + "home_return": { + "active": false, + "feedback": {}, + "result": "not_requested", + "settings": { + "enabled": false, + "feedback_timeout_s": 0.5, + "kp_scale": 1.0, + "max_velocity": 0.3, + "min_duration_s": 3.0, + 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0.14422834947705268 + ], + "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 + ] +} diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/.hydra/config.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1dbed3231261fe92912c30409bc5f867097eaa5f --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,239 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/put_baozi + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the right arm to pick up the steamed bun and place it in the air fryer + basket. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.40147251009941104 + - 0.618776296377182 + - 0.5956588095426559 + - 0.4531014055013657 + - 1.0002136100828647 + - 1.5542610847949982 + - 0.13904411427676677 + - 0.53632409773767 + - 0.711245882511139 + - 0.9085143971443176 + - 0.6218586921691894 + - 2.1306553721427917 + - 0.9146791793219745 + - 0.14422834947705268 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6c1ef36f2140c54506e618968d68590f6fe7154b --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Use the right arm to pick up the steamed bun and place it in + the air fryer basket." + - run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/put_baozi + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use + the right arm to pick up the steamed bun and place it in the air fryer basket.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/put_baozi,run.steps=40 + id: ??? + num: ??? + config_name: openpi_pi0_gesim_v3_four_tasks_5000 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..685c6f93b328e525aa02706515ff8f9fb68ae412 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Use the right arm to pick up the steamed bun and place it in the + air fryer basket." +- run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/put_baozi diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..5bf462f571a209d56f4710823e952f1d4ae821ca --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/hydra/openpi_rollout.log @@ -0,0 +1,2359 @@ +[2026-09-24 22:41:11,546][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 22:41:11,548][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 22:41:11,548][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 22:41:11,548][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 22:41:11,548][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 22:41:11,548][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 22:41:11,548][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 22:41:11,549][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 22:41:11,549][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 22:41:11,550][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 22:41:11,550][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 22:41:11,550][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 22:41:11,550][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 22:41:11,550][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 22:41:11,550][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 22:41:11,550][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} +[2026-09-24 22:41:11,550][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 +[2026-09-24 22:41:11,550][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 +[2026-09-24 22:41:11,551][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:41:11,551][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:41:11,551][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:41:11,551][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:41:11,551][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:41:11,551][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:41:11,551][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:41:11,551][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:41:11,551][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:41:11,551][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:41:11,551][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 22:41:11,551][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 +[2026-09-24 22:41:11,552][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:41:11,563][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:41:11,574][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 22:41:11,585][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:41:11,596][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:41:11,607][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:11,618][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:41:11,629][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:41:11,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:11,651][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:41:11,662][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:41:11,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:11,684][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:41:11,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:41:11,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:11,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:41:11,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:41:11,738][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:11,749][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:41:11,759][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:41:11,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:11,781][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:41:11,781][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 22:41:11,781][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 +[2026-09-24 22:41:11,781][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:41:11,835][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 +[2026-09-24 22:41:11,889][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 +[2026-09-24 22:41:11,943][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 +[2026-09-24 22:41:11,997][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 +[2026-09-24 22:41:12,051][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 +[2026-09-24 22:41:12,105][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 +[2026-09-24 22:41:12,158][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 +[2026-09-24 22:41:12,158][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) +[2026-09-24 22:41:12,159][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:41:12,159][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:41:12,169][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:41:12,175][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:41:12,181][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:41:12,187][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:41:12,192][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:41:12,198][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:41:12,205][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:41:12,211][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=-0.0024420024420024333, 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)] +[2026-09-24 22:41:12,212][root][INFO] - current_pos: [-0.018120088502326936, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, 0.0013351644159609322, 0.04825665674830226, 0.01583123521782248] +[2026-09-24 22:41:12,212][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:41:12,212][root][INFO] - starting separate thread for control loop +[2026-09-24 22:41:12,312][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=-0.018120088502326936, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260872.3124423), 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=24.0, timestamp=1790260872.3124423), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790260872.3124423), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790260872.3124423), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.0017166399633783413, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790260872.3124423), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04825665674830226, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260872.3124423), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260872.3124423)] +[2026-09-24 22:41:12,312][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:41:12,312][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-24 22:41:12,312][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:41:12,936][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-24 22:41:13,236][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:41:13,863][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 22:41:14,163][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174643032) +[2026-09-24 22:41:14,163][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00743877] +[2026-09-24 22:41:14,389][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 +[2026-09-24 22:41:14,390][root][INFO] - initializing, .... +[2026-09-24 22:41:14,390][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 +[2026-09-24 22:41:14,390][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:41:14,391][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:41:14,391][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:41:14,391][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:41:14,391][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:41:14,391][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:41:14,391][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:41:14,391][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:41:14,391][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:41:14,391][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:41:14,391][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 22:41:14,391][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 +[2026-09-24 22:41:14,391][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:41:14,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:41:14,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:14,423][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:41:14,434][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:41:14,445][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:14,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:41:14,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:41:14,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:14,488][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:41:14,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:41:14,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:14,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:41:14,531][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:41:14,542][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:14,553][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:41:14,563][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:41:14,574][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:14,585][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:41:14,596][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:41:14,606][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:41:14,617][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:41:14,617][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 22:41:14,617][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 +[2026-09-24 22:41:14,618][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:41:14,671][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 +[2026-09-24 22:41:14,725][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 +[2026-09-24 22:41:14,779][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 +[2026-09-24 22:41:14,832][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 +[2026-09-24 22:41:14,886][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 +[2026-09-24 22:41:14,940][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 +[2026-09-24 22:41:14,994][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 +[2026-09-24 22:41:14,994][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) +[2026-09-24 22:41:14,994][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:41:14,994][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:41:15,005][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:41:15,010][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:41:15,016][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:41:15,022][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:41:15,028][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:41:15,034][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:41:15,040][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:41:15,046][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=-0.0024420024420024333, 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)] +[2026-09-24 22:41:15,046][root][INFO] - current_pos: [-0.03490501258869294, -0.0020981155107957505, 0.023079270618753256, -0.04825665674830226, 0.0207904173342488, -0.00705729762722207, 0.024605172808422893] +[2026-09-24 22:41:15,046][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:41:15,046][root][INFO] - starting separate thread for control loop +[2026-09-24 22:41:15,146][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.03490501258869294, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260875.1468918), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1790260875.1468918), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=0.023079270618753256, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790260875.1468918), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.04825665674830226, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790260875.1468918), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0207904173342488, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790260875.1468918), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.00705729762722207, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260875.1468918), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.024605172808422893, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1790260875.1468918)] +[2026-09-24 22:41:15,147][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:41:15,147][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0246 +[2026-09-24 22:41:15,147][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:41:15,817][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 22:41:16,118][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:41:16,738][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-24 22:41:17,038][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.278286411841002, -0.011253528648813571) +[2026-09-24 22:41:17,039][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27828641 -0.01125353] +[2026-09-24 22:41:17,162][root][INFO] - initializing, .... +[2026-09-24 22:41:24,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.19 Hz +[2026-09-24 22:41:27,164][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.28 Hz +[2026-09-24 22:41:34,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.63 Hz +[2026-09-24 22:41:37,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.82 Hz +[2026-09-24 22:41:42,212][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 264.76 iterations per second over 30.00 seconds. +[2026-09-24 22:41:42,212][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003776 s, max step_time: 0.077013 s +[2026-09-24 22:41:44,396][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.49 Hz +[2026-09-24 22:41:45,050][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.34 iterations per second over 30.00 seconds. +[2026-09-24 22:41:45,050][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003826 s, max step_time: 0.075302 s +[2026-09-24 22:41:47,171][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.02 Hz +[2026-09-24 22:41:54,399][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.40 Hz +[2026-09-24 22:41:57,172][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.58 Hz +[2026-09-24 22:42:04,400][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.17 Hz +[2026-09-24 22:42:07,175][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.82 Hz +[2026-09-24 22:42:12,213][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.42 iterations per second over 30.00 seconds. +[2026-09-24 22:42:12,213][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003855 s, max step_time: 0.007198 s +[2026-09-24 22:42:14,402][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.85 Hz +[2026-09-24 22:42:15,052][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.51 iterations per second over 30.00 seconds. +[2026-09-24 22:42:17,177][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.06 Hz +[2026-09-24 22:42:24,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.03 Hz +[2026-09-24 22:42:27,178][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.18 Hz +[2026-09-24 22:42:34,406][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.48 Hz +[2026-09-24 22:42:37,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.54 Hz +[2026-09-24 22:42:42,215][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.46 iterations per second over 30.00 seconds. +[2026-09-24 22:42:42,215][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003825 s, max step_time: 0.007333 s +[2026-09-24 22:42:44,408][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.43 Hz +[2026-09-24 22:42:45,052][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.57 iterations per second over 30.00 seconds. +[2026-09-24 22:42:47,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.38 Hz +[2026-09-24 22:42:54,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.83 Hz +[2026-09-24 22:42:57,183][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.43 Hz +[2026-09-24 22:43:04,413][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.56 Hz +[2026-09-24 22:43:07,187][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.52 Hz +[2026-09-24 22:43:12,216][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.22 iterations per second over 30.00 seconds. +[2026-09-24 22:43:12,216][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003858 s, max step_time: 0.007011 s +[2026-09-24 22:43:14,415][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.54 Hz +[2026-09-24 22:43:15,052][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.00 iterations per second over 30.00 seconds. +[2026-09-24 22:43:17,186][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.58 Hz +[2026-09-24 22:43:17,417][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003847 s, max step_time: 0.007490 s +[2026-09-24 22:43:24,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.41 Hz +[2026-09-24 22:43:27,189][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.33 Hz +[2026-09-24 22:43:34,419][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.07 Hz +[2026-09-24 22:43:37,190][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.19 Hz +[2026-09-24 22:43:42,217][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.06 iterations per second over 30.00 seconds. +[2026-09-24 22:43:42,217][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003816 s, max step_time: 0.007363 s +[2026-09-24 22:43:44,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.37 Hz +[2026-09-24 22:43:45,052][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.83 iterations per second over 30.00 seconds. +[2026-09-24 22:43:47,191][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.57 Hz +[2026-09-24 22:43:47,421][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003821 s, max step_time: 0.007411 s +[2026-09-24 22:43:54,423][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 +[2026-09-24 22:43:57,192][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.96 Hz +[2026-09-24 22:44:04,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.12 Hz +[2026-09-24 22:44:07,195][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.32 Hz +[2026-09-24 22:44:12,220][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.67 iterations per second over 30.00 seconds. +[2026-09-24 22:44:14,430][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.72 Hz +[2026-09-24 22:44:15,054][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.58 iterations per second over 30.00 seconds. +[2026-09-24 22:44:17,199][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.81 Hz +[2026-09-24 22:44:17,425][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003827 s, max step_time: 0.007401 s +[2026-09-24 22:44:24,433][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.91 Hz +[2026-09-24 22:44:26,789][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003845 s, max step_time: 0.007089 s +[2026-09-24 22:44:27,200][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.96 Hz +[2026-09-24 22:44:34,436][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.34 Hz +[2026-09-24 22:44:37,205][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 +[2026-09-24 22:44:42,221][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.66 iterations per second over 30.00 seconds. +[2026-09-24 22:44:44,436][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.69 Hz +[2026-09-24 22:44:45,056][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.65 iterations per second over 30.00 seconds. +[2026-09-24 22:44:47,207][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.63 Hz +[2026-09-24 22:44:47,427][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 57 times, mean step_time: 0.003838 s, max step_time: 0.014078 s +[2026-09-24 22:44:54,439][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.31 Hz +[2026-09-24 22:44:56,790][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 68 times, mean step_time: 0.003769 s, max step_time: 0.014205 s +[2026-09-24 22:44:57,210][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.35 Hz +[2026-09-24 22:45:04,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.83 Hz +[2026-09-24 22:45:07,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.42 Hz +[2026-09-24 22:45:12,223][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 272.11 iterations per second over 30.00 seconds. +[2026-09-24 22:45:14,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.18 Hz +[2026-09-24 22:45:15,059][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 271.28 iterations per second over 30.00 seconds. +[2026-09-24 22:45:17,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.50 Hz +[2026-09-24 22:45:17,430][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.003691 s, max step_time: 0.008936 s +[2026-09-24 22:45:24,445][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 273.14 Hz +[2026-09-24 22:45:26,793][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003668 s, max step_time: 0.009201 s +[2026-09-24 22:45:27,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 272.86 Hz +[2026-09-24 22:45:34,446][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 273.65 Hz +[2026-09-24 22:45:37,217][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 272.91 Hz +[2026-09-24 22:45:42,224][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 273.40 iterations per second over 30.00 seconds. +[2026-09-24 22:45:44,448][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 273.44 Hz +[2026-09-24 22:45:45,062][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 272.84 iterations per second over 30.00 seconds. +[2026-09-24 22:45:47,219][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 272.06 Hz +[2026-09-24 22:45:47,434][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.003670 s, max step_time: 0.009224 s +[2026-09-24 22:45:54,451][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.85 Hz +[2026-09-24 22:45:56,795][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003672 s, max step_time: 0.010021 s +[2026-09-24 22:45:57,220][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.36 Hz +[2026-09-24 22:46:03,404][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.80 iterations per second over 18.34 seconds. +[2026-09-24 22:46:03,412][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.66 iterations per second over 21.19 seconds. +[2026-09-24 22:46:11,364][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 22:46:11,366][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 22:46:11,366][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 22:46:11,366][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 22:46:11,366][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 22:46:11,366][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 22:46:11,366][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 22:46:11,366][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 22:46:11,366][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 22:46:11,367][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 22:46:11,367][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 22:46:11,367][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 22:46:11,367][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 22:46:11,367][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 22:46:11,367][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 22:46:11,367][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} +[2026-09-24 22:46:11,368][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 +[2026-09-24 22:46:11,368][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 +[2026-09-24 22:46:11,368][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:46:11,368][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:46:11,368][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:46:11,368][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:46:11,368][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:46:11,368][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:46:11,368][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:46:11,368][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:46:11,368][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:46:11,368][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:46:11,368][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 22:46:11,368][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 +[2026-09-24 22:46:11,369][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:46:11,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:46:11,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 22:46:11,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:46:11,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:46:11,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:11,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:46:11,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:46:11,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:11,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:46:11,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:46:11,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:11,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:46:11,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:46:11,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:11,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:46:11,542][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:46:11,553][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:11,564][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:46:11,575][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:46:11,585][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:11,596][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:46:11,596][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 22:46:11,596][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 +[2026-09-24 22:46:11,596][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:46:11,650][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 +[2026-09-24 22:46:11,704][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 +[2026-09-24 22:46:11,758][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 +[2026-09-24 22:46:11,812][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 +[2026-09-24 22:46:11,865][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 +[2026-09-24 22:46:11,919][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 +[2026-09-24 22:46:11,972][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 +[2026-09-24 22:46:11,973][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) +[2026-09-24 22:46:11,973][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:46:11,973][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:46:11,983][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:46:11,989][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:46:11,995][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:46:12,001][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:46:12,007][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:46:12,013][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:46:12,019][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:46:12,025][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=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-24 22:46:12,025][root][INFO] - current_pos: [-0.019264515144579164, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, -0.009346150911726525, 0.08258945601586909, 0.01583123521782248] +[2026-09-24 22:46:12,025][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:46:12,025][root][INFO] - starting separate thread for control loop +[2026-09-24 22:46:12,125][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=-0.019264515144579164, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790261172.1258059), 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=24.0, timestamp=1790261172.1258059), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=33.0, timestamp=1790261172.1258059), 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=33.0, timestamp=1790261172.1258059), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=-0.009346150911726525, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790261172.1258059), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.08258945601586909, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1790261172.1258059), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790261172.1258059)] +[2026-09-24 22:46:12,125][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:46:12,126][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-24 22:46:12,126][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:46:12,808][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695 +[2026-09-24 22:46:13,108][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:46:13,735][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 22:46:14,035][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032) +[2026-09-24 22:46:14,035][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-24 22:46:14,271][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 +[2026-09-24 22:46:14,271][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 +[2026-09-24 22:46:14,271][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:46:14,271][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:46:14,271][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:46:14,271][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:46:14,271][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:46:14,271][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:46:14,271][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:46:14,271][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:46:14,271][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:46:14,271][root][INFO] - initializing, .... +[2026-09-24 22:46:14,271][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:46:14,271][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 22:46:14,271][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 +[2026-09-24 22:46:14,272][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:46:14,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:46:14,293][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:14,304][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:46:14,315][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:46:14,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:14,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:46:14,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:46:14,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:14,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:46:14,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:46:14,390][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:14,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:46:14,412][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:46:14,423][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:14,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:46:14,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:46:14,455][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:14,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:46:14,477][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:46:14,488][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:46:14,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:46:14,499][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 22:46:14,499][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 +[2026-09-24 22:46:14,499][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:46:14,555][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 +[2026-09-24 22:46:14,610][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 +[2026-09-24 22:46:14,665][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 +[2026-09-24 22:46:14,720][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 +[2026-09-24 22:46:14,774][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 +[2026-09-24 22:46:14,828][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 +[2026-09-24 22:46:14,882][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 +[2026-09-24 22:46:14,882][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) +[2026-09-24 22:46:14,883][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:46:14,883][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:46:14,893][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:46:14,898][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:46:14,904][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:46:14,910][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:46:14,916][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:46:14,922][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:46:14,928][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:46:14,934][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=-0.0024420024420024333, 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)] +[2026-09-24 22:46:14,934][root][INFO] - current_pos: [-0.087167162584878, -0.0020981155107957505, 0.000953688868543523, 0.000953688868543523, -0.003242542153047978, 0.07534142061493831, -0.004386968795300206] +[2026-09-24 22:46:14,934][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:46:14,934][root][INFO] - starting separate thread for control loop +[2026-09-24 22:46:15,035][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.006837606837606813, pos=-0.087167162584878, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790261175.0354314), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1790261175.0354314), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=29.0, timestamp=1790261175.0354314), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=34.0, timestamp=1790261175.0354314), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.003242542153047978, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1790261175.0354314), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.07534142061493831, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790261175.0354314), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.004386968795300206, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790261175.0354314)] +[2026-09-24 22:46:15,035][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:46:15,035][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-24 22:46:15,035][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:46:15,656][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 22:46:15,957][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:46:16,586][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-24 22:46:16,886][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.283245593957428, -0.011253528648817124) +[2026-09-24 22:46:16,886][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28324559 -0.01125353] +[2026-09-24 22:46:17,009][root][INFO] - initializing, .... +[2026-09-24 22:46:24,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.64 Hz +[2026-09-24 22:46:27,015][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.92 Hz +[2026-09-24 22:46:34,279][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.11 Hz +[2026-09-24 22:46:37,018][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 +[2026-09-24 22:46:42,028][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.17 iterations per second over 30.00 seconds. +[2026-09-24 22:46:42,031][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: 0.071306 s +[2026-09-24 22:46:44,281][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.74 Hz +[2026-09-24 22:46:44,938][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.94 iterations per second over 30.00 seconds. +[2026-09-24 22:46:44,938][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003847 s, max step_time: 0.073370 s +[2026-09-24 22:46:47,020][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.12 Hz +[2026-09-24 22:46:54,281][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.90 Hz +[2026-09-24 22:46:57,024][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.50 Hz +[2026-09-24 22:47:04,282][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.48 Hz +[2026-09-24 22:47:07,028][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.21 Hz +[2026-09-24 22:47:12,031][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.51 iterations per second over 30.00 seconds. +[2026-09-24 22:47:14,284][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.84 Hz +[2026-09-24 22:47:14,938][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.66 iterations per second over 30.00 seconds. +[2026-09-24 22:47:14,938][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003836 s, max step_time: 0.007102 s +[2026-09-24 22:47:17,028][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.90 Hz +[2026-09-24 22:47:24,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.98 Hz +[2026-09-24 22:47:27,032][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.99 Hz +[2026-09-24 22:47:34,287][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.56 Hz +[2026-09-24 22:47:37,033][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.97 Hz +[2026-09-24 22:47:42,034][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.51 iterations per second over 30.00 seconds. +[2026-09-24 22:47:44,291][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.59 Hz +[2026-09-24 22:47:44,940][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.88 iterations per second over 30.00 seconds. +[2026-09-24 22:47:44,940][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003833 s, max step_time: 0.007873 s +[2026-09-24 22:47:47,036][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.14 Hz +[2026-09-24 22:47:54,294][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.93 Hz +[2026-09-24 22:47:54,626][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003836 s, max step_time: 0.007922 s +[2026-09-24 22:47:57,038][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.24 Hz +[2026-09-24 22:48:04,297][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.22 Hz +[2026-09-24 22:48:07,039][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.98 Hz +[2026-09-24 22:48:08,794][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] +[2026-09-24 22:48:08,795][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] +[2026-09-24 22:48:12,036][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.55 iterations per second over 30.00 seconds. +[2026-09-24 22:48:14,299][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 +[2026-09-24 22:48:14,944][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.50 iterations per second over 30.00 seconds. +[2026-09-24 22:48:14,944][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003960 s, max step_time: 0.026316 s +[2026-09-24 22:48:17,041][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.64 Hz +[2026-09-24 22:48:24,301][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.95 Hz +[2026-09-24 22:48:24,630][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003958 s, max step_time: 0.017888 s +[2026-09-24 22:48:27,042][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.87 Hz +[2026-09-24 22:48:34,304][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.50 Hz +[2026-09-24 22:48:37,044][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.15 Hz +[2026-09-24 22:48:42,039][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.74 iterations per second over 30.00 seconds. +[2026-09-24 22:48:44,307][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 +[2026-09-24 22:48:44,946][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.68 iterations per second over 30.00 seconds. +[2026-09-24 22:48:44,946][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003866 s, max step_time: 0.007204 s +[2026-09-24 22:48:47,045][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 +[2026-09-24 22:48:54,310][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.84 Hz +[2026-09-24 22:48:54,632][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003872 s, max step_time: 0.007651 s +[2026-09-24 22:48:57,046][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 +[2026-09-24 22:49:04,313][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.22 Hz +[2026-09-24 22:49:07,050][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.99 Hz +[2026-09-24 22:49:12,039][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.13 iterations per second over 30.00 seconds. +[2026-09-24 22:49:14,314][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 +[2026-09-24 22:49:14,948][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.72 iterations per second over 30.00 seconds. +[2026-09-24 22:49:14,948][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003821 s, max step_time: 0.007112 s +[2026-09-24 22:49:17,051][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.67 Hz +[2026-09-24 22:49:24,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.08 Hz +[2026-09-24 22:49:24,634][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003807 s, max step_time: 0.007029 s +[2026-09-24 22:49:27,056][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.59 Hz +[2026-09-24 22:49:34,316][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.98 Hz +[2026-09-24 22:49:37,062][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.45 Hz +[2026-09-24 22:49:42,042][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.24 iterations per second over 30.00 seconds. +[2026-09-24 22:49:44,317][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 +[2026-09-24 22:49:44,950][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.81 iterations per second over 30.00 seconds. +[2026-09-24 22:49:44,951][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 41 times, mean step_time: 0.003864 s, max step_time: 0.009749 s +[2026-09-24 22:49:47,063][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 +[2026-09-24 22:49:54,320][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.13 Hz +[2026-09-24 22:49:54,637][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: 0.013694 s +[2026-09-24 22:49:57,064][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.58 Hz +[2026-09-24 22:50:04,322][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 +[2026-09-24 22:50:07,064][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.80 Hz +[2026-09-24 22:50:12,043][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.36 iterations per second over 30.00 seconds. +[2026-09-24 22:50:14,324][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.26 Hz +[2026-09-24 22:50:14,951][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.49 iterations per second over 30.00 seconds. +[2026-09-24 22:50:14,952][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 56 times, mean step_time: 0.003854 s, max step_time: 0.010991 s +[2026-09-24 22:50:17,066][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.54 Hz +[2026-09-24 22:50:18,352][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 276.11 iterations per second over 3.40 seconds. +[2026-09-24 22:50:18,358][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 273.94 iterations per second over 6.32 seconds. +[2026-09-24 22:50:21,168][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 22:50:21,169][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 22:50:21,169][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 22:50:21,169][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 22:50:21,169][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 22:50:21,169][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 22:50:21,169][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 22:50:21,169][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 22:50:21,169][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 22:50:21,170][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 22:50:21,170][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 22:50:21,170][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 22:50:21,170][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 22:50:21,170][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 22:50:21,170][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 22:50:21,170][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} +[2026-09-24 22:50:21,171][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 +[2026-09-24 22:50:21,171][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 +[2026-09-24 22:50:21,171][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:50:21,171][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:50:21,171][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:50:21,171][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:50:21,171][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:50:21,171][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:50:21,171][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:50:21,171][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:50:21,171][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:50:21,171][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:50:21,171][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 22:50:21,171][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 +[2026-09-24 22:50:21,172][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:50:21,184][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:50:21,195][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 22:50:21,206][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:50:21,217][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:50:21,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:21,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:50:21,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:50:21,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:21,271][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:50:21,282][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:50:21,293][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:21,304][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:50:21,315][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:50:21,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:21,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:50:21,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:50:21,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:21,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:50:21,379][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:50:21,390][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:21,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:50:21,401][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 22:50:21,401][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 +[2026-09-24 22:50:21,401][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:50:21,455][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 +[2026-09-24 22:50:21,509][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 +[2026-09-24 22:50:21,563][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 +[2026-09-24 22:50:21,617][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 +[2026-09-24 22:50:21,671][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 +[2026-09-24 22:50:21,725][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 +[2026-09-24 22:50:21,778][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 +[2026-09-24 22:50:21,779][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) +[2026-09-24 22:50:21,779][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:50:21,779][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:50:21,789][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:50:21,794][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:50:21,801][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:50:21,807][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:50:21,813][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:50:21,819][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:50:21,825][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:50:21,831][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=-0.02051282051282044, 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)] +[2026-09-24 22:50:21,832][root][INFO] - current_pos: [-0.018120088502326936, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, -0.0005722133211261138, 0.10852979324025291, 0.01583123521782248] +[2026-09-24 22:50:21,832][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:50:21,832][root][INFO] - starting separate thread for control loop +[2026-09-24 22:50:21,932][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.006837606837606813, pos=-0.018120088502326936, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790261421.9324162), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790261421.9324162), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=34.0, timestamp=1790261421.9324162), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1790261421.9324162), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.00019073777370515188, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790261421.9324162), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.10852979324025291, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790261421.9324162), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790261421.9324162)] +[2026-09-24 22:50:21,932][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:50:21,932][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-24 22:50:21,932][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:50:22,556][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-24 22:50:22,856][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:50:23,486][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 22:50:23,786][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174643032) +[2026-09-24 22:50:23,786][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00743877] +[2026-09-24 22:50:24,023][root][INFO] - initializing, .... +[2026-09-24 22:50:24,023][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 +[2026-09-24 22:50:24,023][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 +[2026-09-24 22:50:24,023][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:50:24,023][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:50:24,024][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:50:24,024][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:50:24,024][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:50:24,024][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:50:24,024][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:50:24,024][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:50:24,024][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:50:24,024][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:50:24,024][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 22:50:24,024][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 +[2026-09-24 22:50:24,024][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:50:24,035][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:50:24,046][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:24,057][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:50:24,068][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:50:24,079][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:24,089][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:50:24,100][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:50:24,111][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:24,122][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:50:24,133][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:50:24,143][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:24,154][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:50:24,165][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:50:24,176][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:24,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:50:24,197][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:50:24,208][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:24,219][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:50:24,230][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:50:24,240][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:50:24,251][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:50:24,251][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 22:50:24,251][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 +[2026-09-24 22:50:24,252][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:50:24,305][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 +[2026-09-24 22:50:24,359][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 +[2026-09-24 22:50:24,413][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 +[2026-09-24 22:50:24,466][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 +[2026-09-24 22:50:24,520][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 +[2026-09-24 22:50:24,574][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 +[2026-09-24 22:50:24,627][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 +[2026-09-24 22:50:24,627][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) +[2026-09-24 22:50:24,627][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:50:24,627][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:50:24,638][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:50:24,643][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:50:24,649][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:50:24,655][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:50:24,661][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:50:24,667][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:50:24,673][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:50:24,679][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=-0.06153846153846132, 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)] +[2026-09-24 22:50:24,679][root][INFO] - current_pos: [-0.0413900968947889, -0.0017166399633783413, 0.000953688868543523, 0.000953688868543523, -0.0040054932478827965, 0.041771572442206306, 0.010490577553978753] +[2026-09-24 22:50:24,679][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:50:24,679][root][INFO] - starting separate thread for control loop +[2026-09-24 22:50:24,780][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=-0.0413900968947889, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790261424.780253), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0017166399633783413, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1790261424.780253), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1790261424.780253), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1790261424.780253), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0040054932478827965, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1790261424.780253), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.042153047989623715, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790261424.780253), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.010109102006561344, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1790261424.780253)] +[2026-09-24 22:50:24,780][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:50:24,780][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0101 +[2026-09-24 22:50:24,780][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:50:25,460][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 22:50:25,760][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:50:26,387][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-24 22:50:26,688][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.011253528648817124) +[2026-09-24 22:50:26,688][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.01125353] +[2026-09-24 22:50:26,822][root][INFO] - initializing, .... +[2026-09-24 22:50:34,027][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.66 Hz +[2026-09-24 22:50:36,823][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.87 Hz +[2026-09-24 22:50:44,029][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.17 Hz +[2026-09-24 22:50:46,826][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.33 Hz +[2026-09-24 22:50:48,428][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] +[2026-09-24 22:50:48,428][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] +[2026-09-24 22:50:51,833][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.93 iterations per second over 30.00 seconds. +[2026-09-24 22:50:51,833][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003907 s, max step_time: 0.062210 s +[2026-09-24 22:50:54,028][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.90 Hz +[2026-09-24 22:50:54,682][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.04 iterations per second over 30.00 seconds. +[2026-09-24 22:50:54,683][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003936 s, max step_time: 0.061197 s +[2026-09-24 22:50:56,828][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.04 Hz +[2026-09-24 22:51:04,029][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.98 Hz +[2026-09-24 22:51:06,830][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.04 Hz +[2026-09-24 22:51:14,029][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.60 Hz +[2026-09-24 22:51:16,831][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.19 Hz +[2026-09-24 22:51:21,836][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.30 iterations per second over 30.00 seconds. +[2026-09-24 22:51:22,348][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003856 s, max step_time: 0.007231 s +[2026-09-24 22:51:24,033][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.29 Hz +[2026-09-24 22:51:24,683][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.73 iterations per second over 30.00 seconds. +[2026-09-24 22:51:26,832][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.87 Hz +[2026-09-24 22:51:34,036][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 +[2026-09-24 22:51:36,833][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.38 Hz +[2026-09-24 22:51:44,039][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.34 Hz +[2026-09-24 22:51:46,682][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003864 s, max step_time: 0.007279 s +[2026-09-24 22:51:46,835][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 +[2026-09-24 22:51:51,838][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.11 iterations per second over 30.00 seconds. +[2026-09-24 22:51:54,040][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.55 Hz +[2026-09-24 22:51:54,684][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.22 iterations per second over 30.00 seconds. +[2026-09-24 22:51:56,836][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.36 Hz +[2026-09-24 22:52:02,038][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003880 s, max step_time: 0.007161 s +[2026-09-24 22:52:04,045][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.28 Hz +[2026-09-24 22:52:06,530][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] +[2026-09-24 22:52:06,530][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] +[2026-09-24 22:52:06,836][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.30 Hz +[2026-09-24 22:52:14,047][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 +[2026-09-24 22:52:16,683][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003873 s, max step_time: 0.012461 s +[2026-09-24 22:52:16,837][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.59 Hz +[2026-09-24 22:52:21,842][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.47 iterations per second over 30.00 seconds. +[2026-09-24 22:52:24,050][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.82 Hz +[2026-09-24 22:52:24,688][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.57 iterations per second over 30.00 seconds. +[2026-09-24 22:52:26,839][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.04 Hz +[2026-09-24 22:52:32,039][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003842 s, max step_time: 0.013255 s +[2026-09-24 22:52:34,053][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 +[2026-09-24 22:52:36,841][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.33 Hz +[2026-09-24 22:52:44,056][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.83 Hz +[2026-09-24 22:52:46,684][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003870 s, max step_time: 0.007080 s +[2026-09-24 22:52:46,842][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 +[2026-09-24 22:52:51,844][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.95 iterations per second over 30.00 seconds. +[2026-09-24 22:52:54,057][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.16 Hz +[2026-09-24 22:52:54,691][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.20 iterations per second over 30.00 seconds. +[2026-09-24 22:52:56,845][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.92 Hz +[2026-09-24 22:53:01,552][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] +[2026-09-24 22:53:01,552][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] +[2026-09-24 22:53:02,042][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003958 s, max step_time: 0.019450 s +[2026-09-24 22:53:04,057][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.60 Hz +[2026-09-24 22:53:06,847][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.85 Hz +[2026-09-24 22:53:14,060][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.86 Hz +[2026-09-24 22:53:16,686][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003962 s, max step_time: 0.017119 s +[2026-09-24 22:53:16,848][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.38 Hz +[2026-09-24 22:53:21,847][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.97 iterations per second over 30.00 seconds. +[2026-09-24 22:53:24,060][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 +[2026-09-24 22:53:24,694][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.74 iterations per second over 30.00 seconds. +[2026-09-24 22:53:26,849][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.24 Hz +[2026-09-24 22:53:32,044][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003839 s, max step_time: 0.007215 s +[2026-09-24 22:53:34,061][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.78 Hz +[2026-09-24 22:53:36,850][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.99 Hz +[2026-09-24 22:53:44,062][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 +[2026-09-24 22:53:46,689][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: 0.007129 s +[2026-09-24 22:53:46,852][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.35 Hz +[2026-09-24 22:53:51,848][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.06 iterations per second over 30.00 seconds. +[2026-09-24 22:53:54,063][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.75 Hz +[2026-09-24 22:53:54,696][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.11 iterations per second over 30.00 seconds. +[2026-09-24 22:53:56,852][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.90 Hz +[2026-09-24 22:54:02,045][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003830 s, max step_time: 0.008894 s +[2026-09-24 22:54:04,065][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.27 Hz +[2026-09-24 22:54:06,855][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.94 Hz +[2026-09-24 22:54:14,066][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 +[2026-09-24 22:54:16,690][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003845 s, max step_time: 0.009208 s +[2026-09-24 22:54:16,856][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.25 Hz +[2026-09-24 22:54:21,850][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.65 iterations per second over 30.00 seconds. +[2026-09-24 22:54:24,068][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.75 Hz +[2026-09-24 22:54:24,696][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.77 iterations per second over 30.00 seconds. +[2026-09-24 22:54:26,858][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.04 Hz +[2026-09-24 22:54:32,047][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003833 s, max step_time: 0.010078 s +[2026-09-24 22:54:34,069][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.27 Hz +[2026-09-24 22:54:36,865][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.39 Hz +[2026-09-24 22:54:44,071][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.85 Hz +[2026-09-24 22:54:46,691][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 81 times, mean step_time: 0.003917 s, max step_time: 0.017214 s +[2026-09-24 22:54:46,866][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.02 Hz +[2026-09-24 22:54:51,850][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.73 iterations per second over 30.00 seconds. +[2026-09-24 22:54:54,080][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.75 Hz +[2026-09-24 22:54:54,699][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.47 iterations per second over 30.00 seconds. +[2026-09-24 22:54:56,867][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.97 Hz +[2026-09-24 22:55:02,048][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 92 times, mean step_time: 0.003938 s, max step_time: 0.015433 s +[2026-09-24 22:55:04,078][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.59 Hz +[2026-09-24 22:55:06,868][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.27 Hz +[2026-09-24 22:55:14,080][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 +[2026-09-24 22:55:14,133][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.44 iterations per second over 19.43 seconds. +[2026-09-24 22:55:14,140][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.10 iterations per second over 22.29 seconds. +[2026-09-24 22:55:17,520][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 22:55:17,521][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 22:55:17,521][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 22:55:17,521][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 22:55:17,521][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 22:55:17,521][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 22:55:17,521][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 22:55:17,521][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 22:55:17,522][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 22:55:17,523][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 22:55:17,523][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 22:55:17,523][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 22:55:17,523][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 22:55:17,523][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 22:55:17,523][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 22:55:17,523][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} +[2026-09-24 22:55:17,523][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 +[2026-09-24 22:55:17,523][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 +[2026-09-24 22:55:17,523][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:55:17,523][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:55:17,523][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:55:17,523][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:55:17,523][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:55:17,523][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:55:17,523][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:55:17,523][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:55:17,523][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:55:17,523][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:55:17,523][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 22:55:17,524][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 +[2026-09-24 22:55:17,525][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:55:17,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:55:17,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 22:55:17,559][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:55:17,570][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:55:17,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:17,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:55:17,603][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:55:17,614][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:17,625][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:55:17,636][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:55:17,647][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:17,658][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:55:17,669][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:55:17,680][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:17,691][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:55:17,702][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:55:17,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:17,724][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:55:17,735][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:55:17,746][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:17,758][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:55:17,758][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 22:55:17,758][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 +[2026-09-24 22:55:17,758][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:55:17,813][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 +[2026-09-24 22:55:17,868][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 +[2026-09-24 22:55:17,924][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 +[2026-09-24 22:55:17,980][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 +[2026-09-24 22:55:18,035][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 +[2026-09-24 22:55:18,090][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 +[2026-09-24 22:55:18,144][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 +[2026-09-24 22:55:18,144][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) +[2026-09-24 22:55:18,145][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:55:18,145][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:55:18,155][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:55:18,160][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:55:18,167][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:55:18,173][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:55:18,179][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:55:18,185][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:55:18,191][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:55:18,197][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=-0.0024420024420024333, 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)] +[2026-09-24 22:55:18,197][root][INFO] - current_pos: [-0.010490577553978753, -0.000953688868543523, 0.0020981155107957505, 0.0020981155107957505, -0.0207904173342488, 0.10891126878767032, 0.01583123521782248] +[2026-09-24 22:55:18,198][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:55:18,198][root][INFO] - starting separate thread for control loop +[2026-09-24 22:55:18,298][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=-0.01087205310139261, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790261718.2986274), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790261718.2986274), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1790261718.2986274), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=35.0, timestamp=1790261718.2986274), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.0207904173342488, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790261718.2986274), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.10891126878767032, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790261718.2986274), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790261718.2986274)] +[2026-09-24 22:55:18,298][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:55:18,298][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-24 22:55:18,298][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:55:18,978][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-24 22:55:19,279][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:55:19,910][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 22:55:20,211][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174643032) +[2026-09-24 22:55:20,211][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00743877] +[2026-09-24 22:55:20,447][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 +[2026-09-24 22:55:20,448][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 +[2026-09-24 22:55:20,448][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:55:20,448][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:55:20,448][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:55:20,448][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:55:20,448][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:55:20,448][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:55:20,448][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:55:20,448][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:55:20,448][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:55:20,448][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:55:20,448][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 22:55:20,448][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 +[2026-09-24 22:55:20,449][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:55:20,450][root][INFO] - initializing, .... +[2026-09-24 22:55:20,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:55:20,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:20,481][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:55:20,492][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:55:20,503][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:20,513][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:55:20,524][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:55:20,535][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:20,546][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:55:20,556][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:55:20,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:20,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:55:20,589][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:55:20,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:20,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:55:20,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:55:20,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:20,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:55:20,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:55:20,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:55:20,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:55:20,675][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 22:55:20,675][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 +[2026-09-24 22:55:20,675][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:55:20,728][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 +[2026-09-24 22:55:20,782][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 +[2026-09-24 22:55:20,835][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 +[2026-09-24 22:55:20,889][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 +[2026-09-24 22:55:20,943][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 +[2026-09-24 22:55:20,996][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 +[2026-09-24 22:55:21,050][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 +[2026-09-24 22:55:21,050][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) +[2026-09-24 22:55:21,050][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:55:21,050][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:55:21,061][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:55:21,066][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:55:21,071][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:55:21,078][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:55:21,084][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:55:21,090][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:55:21,097][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:55:21,103][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=-0.06153846153846132, 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)] +[2026-09-24 22:55:21,103][root][INFO] - current_pos: [-0.005912870984969842, -0.0013351644159609322, 0.0005722133211261138, 0.002861066605630569, 0.018120088502326936, 0.078774700541695, 0.014305333028152845] +[2026-09-24 22:55:21,103][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:55:21,103][root][INFO] - starting separate thread for control loop +[2026-09-24 22:55:21,204][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.03418803418803407, pos=-0.005912870984969842, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790261721.2040923), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1790261721.2040923), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=31.0, timestamp=1790261721.2040923), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.003242542153047978, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1790261721.2040923), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.018120088502326936, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790261721.2040923), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.078774700541695, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790261721.2040923), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.014305333028152845, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1790261721.2040923)] +[2026-09-24 22:55:21,204][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:55:21,204][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0143 +[2026-09-24 22:55:21,204][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:55:21,884][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 22:55:22,184][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:55:22,811][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-24 22:55:23,111][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011253528648817124) +[2026-09-24 22:55:23,111][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01125353] +[2026-09-24 22:55:23,236][root][INFO] - initializing, .... +[2026-09-24 22:55:30,452][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.44 Hz +[2026-09-24 22:55:33,240][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.20 Hz +[2026-09-24 22:55:40,452][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 +[2026-09-24 22:55:43,239][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.89 Hz +[2026-09-24 22:55:48,200][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.51 iterations per second over 30.00 seconds. +[2026-09-24 22:55:48,200][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003809 s, max step_time: 0.069433 s +[2026-09-24 22:55:50,458][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.42 Hz +[2026-09-24 22:55:51,104][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.20 iterations per second over 30.00 seconds. +[2026-09-24 22:55:51,104][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003858 s, max step_time: 0.073487 s +[2026-09-24 22:55:53,241][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 +[2026-09-24 22:56:00,459][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.80 Hz +[2026-09-24 22:56:03,244][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.76 Hz +[2026-09-24 22:56:10,460][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.48 Hz +[2026-09-24 22:56:13,247][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.56 Hz +[2026-09-24 22:56:18,200][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.47 iterations per second over 30.00 seconds. +[2026-09-24 22:56:18,200][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003869 s, max step_time: 0.007499 s +[2026-09-24 22:56:20,462][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.74 Hz +[2026-09-24 22:56:21,106][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.18 iterations per second over 30.00 seconds. +[2026-09-24 22:56:23,247][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 +[2026-09-24 22:56:30,467][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.41 Hz +[2026-09-24 22:56:33,249][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.76 Hz +[2026-09-24 22:56:40,469][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.81 Hz +[2026-09-24 22:56:43,252][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.80 Hz +[2026-09-24 22:56:48,201][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.79 iterations per second over 30.00 seconds. +[2026-09-24 22:56:48,201][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003879 s, max step_time: 0.007832 s +[2026-09-24 22:56:50,473][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.00 Hz +[2026-09-24 22:56:51,107][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.03 iterations per second over 30.00 seconds. +[2026-09-24 22:56:53,253][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.98 Hz +[2026-09-24 22:57:00,477][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.86 Hz +[2026-09-24 22:57:03,255][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.76 Hz +[2026-09-24 22:57:10,478][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.80 Hz +[2026-09-24 22:57:13,257][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.26 Hz +[2026-09-24 22:57:18,204][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.71 iterations per second over 30.00 seconds. +[2026-09-24 22:57:20,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.71 Hz +[2026-09-24 22:57:21,111][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.76 iterations per second over 30.00 seconds. +[2026-09-24 22:57:23,258][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.88 Hz +[2026-09-24 22:57:30,484][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.33 Hz +[2026-09-24 22:57:32,719][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003849 s, max step_time: 0.007363 s +[2026-09-24 22:57:33,258][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 +[2026-09-24 22:57:34,552][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003866 s, max step_time: 0.007264 s +[2026-09-24 22:57:40,487][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.25 Hz +[2026-09-24 22:57:43,260][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 +[2026-09-24 22:57:48,206][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.02 iterations per second over 30.00 seconds. +[2026-09-24 22:57:50,489][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.15 Hz +[2026-09-24 22:57:51,113][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.29 iterations per second over 30.00 seconds. +[2026-09-24 22:57:53,262][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.95 Hz +[2026-09-24 22:58:00,492][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.52 Hz +[2026-09-24 22:58:03,265][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.93 Hz +[2026-09-24 22:58:04,556][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003864 s, max step_time: 0.007158 s +[2026-09-24 22:58:10,494][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.45 Hz +[2026-09-24 22:58:13,265][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.09 Hz +[2026-09-24 22:58:18,208][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.92 iterations per second over 30.00 seconds. +[2026-09-24 22:58:20,497][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.63 Hz +[2026-09-24 22:58:21,115][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.05 iterations per second over 30.00 seconds. +[2026-09-24 22:58:23,265][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.88 Hz +[2026-09-24 22:58:30,500][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.92 Hz +[2026-09-24 22:58:33,267][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.27 Hz +[2026-09-24 22:58:34,557][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003866 s, max step_time: 0.007106 s +[2026-09-24 22:58:40,500][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 +[2026-09-24 22:58:43,270][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.91 Hz +[2026-09-24 22:58:48,089][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003848 s, max step_time: 0.007223 s +[2026-09-24 22:58:48,208][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.77 iterations per second over 30.00 seconds. +[2026-09-24 22:58:50,502][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.63 Hz +[2026-09-24 22:58:51,118][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.17 iterations per second over 30.00 seconds. +[2026-09-24 22:58:53,272][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.45 Hz +[2026-09-24 22:59:00,505][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.95 Hz +[2026-09-24 22:59:03,274][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.26 Hz +[2026-09-24 22:59:04,561][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003807 s, max step_time: 0.009071 s +[2026-09-24 22:59:10,507][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.81 Hz +[2026-09-24 22:59:13,280][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.00 Hz +[2026-09-24 22:59:18,091][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003823 s, max step_time: 0.012854 s +[2026-09-24 22:59:18,209][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.62 iterations per second over 30.00 seconds. +[2026-09-24 22:59:20,509][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.06 Hz +[2026-09-24 22:59:21,118][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.10 iterations per second over 30.00 seconds. +[2026-09-24 22:59:23,278][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.87 Hz +[2026-09-24 22:59:30,511][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.56 Hz +[2026-09-24 22:59:33,279][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.37 Hz +[2026-09-24 22:59:34,564][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 54 times, mean step_time: 0.003824 s, max step_time: 0.011264 s +[2026-09-24 22:59:40,515][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.52 Hz +[2026-09-24 22:59:43,283][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.31 Hz +[2026-09-24 22:59:48,092][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 63 times, mean step_time: 0.003835 s, max step_time: 0.013540 s +[2026-09-24 22:59:48,212][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.57 iterations per second over 30.00 seconds. +[2026-09-24 22:59:50,518][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.91 Hz +[2026-09-24 22:59:51,120][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.49 iterations per second over 30.00 seconds. +[2026-09-24 22:59:53,285][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 +[2026-09-24 23:00:00,518][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.90 Hz +[2026-09-24 23:00:03,288][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 +[2026-09-24 23:00:04,566][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 64 times, mean step_time: 0.003865 s, max step_time: 0.010455 s +[2026-09-24 23:00:10,518][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.98 Hz +[2026-09-24 23:00:13,289][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 +[2026-09-24 23:00:18,093][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003866 s, max step_time: 0.011009 s +[2026-09-24 23:00:18,214][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.79 iterations per second over 30.00 seconds. +[2026-09-24 23:00:19,563][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.95 iterations per second over 28.44 seconds. +[2026-09-24 23:00:19,571][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.05 iterations per second over 1.36 seconds. +[2026-09-24 23:00:21,575][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 23:00:21,576][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 23:00:21,576][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 23:00:21,576][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 23:00:21,576][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 23:00:21,576][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 23:00:21,577][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 23:00:21,577][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 23:00:21,577][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 23:00:21,578][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 23:00:21,578][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 23:00:21,578][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 23:00:21,578][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 23:00:21,578][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 23:00:21,578][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 23:00:21,578][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} +[2026-09-24 23:00:21,578][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 +[2026-09-24 23:00:21,578][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 +[2026-09-24 23:00:21,578][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:00:21,578][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:00:21,578][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:00:21,579][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:00:21,579][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:00:21,579][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:00:21,579][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:00:21,579][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:00:21,579][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:00:21,579][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:00:21,579][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 23:00:21,579][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 +[2026-09-24 23:00:21,580][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:00:21,591][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:00:21,602][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 23:00:21,613][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:00:21,624][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:00:21,635][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:21,646][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:00:21,657][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:00:21,668][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:21,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:00:21,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:00:21,700][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:21,711][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:00:21,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:00:21,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:21,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:00:21,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:00:21,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:21,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:00:21,787][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:00:21,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:21,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:00:21,809][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 23:00:21,809][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 +[2026-09-24 23:00:21,809][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:00:21,864][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 +[2026-09-24 23:00:21,918][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 +[2026-09-24 23:00:21,972][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 +[2026-09-24 23:00:22,027][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 +[2026-09-24 23:00:22,082][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 +[2026-09-24 23:00:22,136][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 +[2026-09-24 23:00:22,190][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 +[2026-09-24 23:00:22,190][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) +[2026-09-24 23:00:22,190][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:00:22,190][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:00:22,201][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:00:22,206][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:00:22,212][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:00:22,218][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:00:22,224][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:00:22,230][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:00:22,236][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:00:22,242][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=0.0073260073260073, 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=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-24 23:00:22,242][root][INFO] - current_pos: [-0.013542381933318026, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, -0.0024795910582131597, 0.10852979324025291, -0.002861066605630569] +[2026-09-24 23:00:22,242][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:00:22,242][root][INFO] - starting separate thread for control loop +[2026-09-24 23:00:22,343][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.02051282051282044, pos=-0.013542381933318026, voltage=-1, temp_mos=26.0, temp_rotor=23.0, timestamp=1790262022.3430057), 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=1790262022.3430057), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=35.0, timestamp=1790262022.3430057), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1790262022.3430057), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790262022.3430057), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.10852979324025291, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790262022.3430057), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.0032425421530444254, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790262022.3430057)] +[2026-09-24 23:00:22,343][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:00:22,343][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0032 +[2026-09-24 23:00:22,343][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:00:22,968][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-24 23:00:23,268][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:00:23,896][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 23:00:24,197][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032) +[2026-09-24 23:00:24,197][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-24 23:00:24,435][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 +[2026-09-24 23:00:24,436][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 +[2026-09-24 23:00:24,436][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:00:24,436][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:00:24,436][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:00:24,436][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:00:24,436][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:00:24,436][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:00:24,436][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:00:24,436][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:00:24,436][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:00:24,436][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:00:24,436][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 23:00:24,436][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 +[2026-09-24 23:00:24,437][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:00:24,438][root][INFO] - initializing, .... +[2026-09-24 23:00:24,447][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:00:24,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:24,469][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:00:24,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:00:24,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:24,501][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:00:24,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:00:24,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:24,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:00:24,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:00:24,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:24,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:00:24,576][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:00:24,587][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:24,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:00:24,608][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:00:24,619][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:24,630][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:00:24,640][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:00:24,651][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:00:24,662][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:00:24,662][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 23:00:24,662][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 +[2026-09-24 23:00:24,662][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:00:24,716][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 +[2026-09-24 23:00:24,769][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 +[2026-09-24 23:00:24,823][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 +[2026-09-24 23:00:24,876][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 +[2026-09-24 23:00:24,930][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 +[2026-09-24 23:00:24,983][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 +[2026-09-24 23:00:25,037][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 +[2026-09-24 23:00:25,037][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) +[2026-09-24 23:00:25,038][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:00:25,038][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:00:25,048][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:00:25,054][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:00:25,060][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:00:25,066][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:00:25,072][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:00:25,077][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:00:25,084][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:00:25,090][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=-0.06153846153846132, 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=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-24 23:00:25,091][root][INFO] - current_pos: [-0.014305333028152845, 0.0005722133211261138, 0.000953688868543523, 0.004386968795300206, -0.06847486076142495, -0.026894026092927348, -0.0013351644159609322] +[2026-09-24 23:00:25,091][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:00:25,091][root][INFO] - starting separate thread for control loop +[2026-09-24 23:00:25,191][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.014305333028152845, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790262025.1914494), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.07521367521367495, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790262025.1914494), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1790262025.1914494), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.004386968795300206, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1790262025.1914494), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06847486076142495, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1790262025.1914494), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.026894026092927348, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790262025.1914494), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0013351644159609322, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1790262025.1914494)] +[2026-09-24 23:00:25,191][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:00:25,191][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013 +[2026-09-24 23:00:25,191][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:00:25,868][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 23:00:26,168][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:00:26,797][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-24 23:00:27,097][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.011253528648817124) +[2026-09-24 23:00:27,098][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.01125353] +[2026-09-24 23:00:27,224][root][INFO] - initializing, .... +[2026-09-24 23:00:34,441][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.47 Hz +[2026-09-24 23:00:37,227][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.15 Hz +[2026-09-24 23:00:44,444][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.84 Hz +[2026-09-24 23:00:46,468][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] +[2026-09-24 23:00:46,468][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] +[2026-09-24 23:00:47,230][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.32 Hz +[2026-09-24 23:00:52,246][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.74 iterations per second over 30.00 seconds. +[2026-09-24 23:00:52,246][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003925 s, max step_time: 0.072883 s +[2026-09-24 23:00:54,445][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.70 Hz +[2026-09-24 23:00:55,094][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.54 iterations per second over 30.00 seconds. +[2026-09-24 23:00:55,094][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003975 s, max step_time: 0.076976 s +[2026-09-24 23:00:57,230][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 +[2026-09-24 23:01:04,446][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.48 Hz +[2026-09-24 23:01:07,233][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.93 Hz +[2026-09-24 23:01:14,447][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 +[2026-09-24 23:01:17,233][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.60 Hz +[2026-09-24 23:01:22,249][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.71 iterations per second over 30.00 seconds. +[2026-09-24 23:01:24,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.25 Hz +[2026-09-24 23:01:25,097][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.08 iterations per second over 30.00 seconds. +[2026-09-24 23:01:25,097][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003845 s, max step_time: 0.007338 s +[2026-09-24 23:01:27,236][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.40 Hz +[2026-09-24 23:01:34,451][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.05 Hz +[2026-09-24 23:01:37,238][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.74 Hz +[2026-09-24 23:01:44,455][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.31 Hz +[2026-09-24 23:01:47,240][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.56 Hz +[2026-09-24 23:01:52,250][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.96 iterations per second over 30.00 seconds. +[2026-09-24 23:01:53,021][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: 0.007628 s +[2026-09-24 23:01:54,457][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.23 Hz +[2026-09-24 23:01:55,098][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.56 iterations per second over 30.00 seconds. +[2026-09-24 23:01:55,098][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003868 s, max step_time: 0.007290 s +[2026-09-24 23:01:57,244][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.42 Hz +[2026-09-24 23:02:04,460][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.89 Hz +[2026-09-24 23:02:07,245][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.86 Hz +[2026-09-24 23:02:14,463][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.56 Hz +[2026-09-24 23:02:17,245][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.08 Hz +[2026-09-24 23:02:22,252][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.25 iterations per second over 30.00 seconds. +[2026-09-24 23:02:23,024][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003856 s, max step_time: 0.007243 s +[2026-09-24 23:02:24,464][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.87 Hz +[2026-09-24 23:02:25,098][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.40 iterations per second over 30.00 seconds. +[2026-09-24 23:02:27,248][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 +[2026-09-24 23:02:33,470][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003851 s, max step_time: 0.007391 s +[2026-09-24 23:02:34,466][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.35 Hz +[2026-09-24 23:02:37,249][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.57 Hz +[2026-09-24 23:02:44,472][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.66 Hz +[2026-09-24 23:02:47,250][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.30 Hz +[2026-09-24 23:02:48,265][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] +[2026-09-24 23:02:48,265][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] +[2026-09-24 23:02:52,252][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.90 iterations per second over 30.00 seconds. +[2026-09-24 23:02:53,025][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003935 s, max step_time: 0.016643 s +[2026-09-24 23:02:54,472][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 +[2026-09-24 23:02:55,100][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.95 iterations per second over 30.00 seconds. +[2026-09-24 23:02:57,253][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.51 Hz +[2026-09-24 23:03:03,472][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003907 s, max step_time: 0.022083 s +[2026-09-24 23:03:04,474][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.55 Hz +[2026-09-24 23:03:07,254][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.99 Hz +[2026-09-24 23:03:14,477][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.14 Hz +[2026-09-24 23:03:17,256][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.03 Hz +[2026-09-24 23:03:22,253][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.69 iterations per second over 30.00 seconds. +[2026-09-24 23:03:24,480][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.80 Hz +[2026-09-24 23:03:25,103][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.21 iterations per second over 30.00 seconds. +[2026-09-24 23:03:27,260][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.91 Hz +[2026-09-24 23:03:33,474][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003843 s, max step_time: 0.007180 s +[2026-09-24 23:03:34,480][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.60 Hz +[2026-09-24 23:03:37,261][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.67 Hz +[2026-09-24 23:03:37,671][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003823 s, max step_time: 0.007355 s +[2026-09-24 23:03:44,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.65 Hz +[2026-09-24 23:03:47,264][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.31 Hz +[2026-09-24 23:03:52,255][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.42 iterations per second over 30.00 seconds. +[2026-09-24 23:03:54,484][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.26 Hz +[2026-09-24 23:03:55,104][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.53 iterations per second over 30.00 seconds. +[2026-09-24 23:03:57,268][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.72 Hz +[2026-09-24 23:04:03,477][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003894 s, max step_time: 0.014169 s +[2026-09-24 23:04:04,484][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.80 Hz +[2026-09-24 23:04:07,270][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.55 Hz +[2026-09-24 23:04:07,672][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 60 times, mean step_time: 0.003900 s, max step_time: 0.011532 s +[2026-09-24 23:04:14,486][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.84 Hz +[2026-09-24 23:04:17,272][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 +[2026-09-24 23:04:22,257][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.01 iterations per second over 30.00 seconds. +[2026-09-24 23:04:24,488][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 +[2026-09-24 23:04:25,106][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.41 iterations per second over 30.00 seconds. +[2026-09-24 23:04:27,272][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.89 Hz +[2026-09-24 23:04:33,480][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003850 s, max step_time: 0.010881 s +[2026-09-24 23:04:34,490][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 +[2026-09-24 23:04:37,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.84 Hz +[2026-09-24 23:04:37,672][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003831 s, max step_time: 0.009820 s +[2026-09-24 23:04:44,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.90 Hz +[2026-09-24 23:04:47,277][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 +[2026-09-24 23:04:52,259][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.65 iterations per second over 30.00 seconds. +[2026-09-24 23:04:54,493][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.27 Hz +[2026-09-24 23:04:55,108][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.92 iterations per second over 30.00 seconds. +[2026-09-24 23:04:57,280][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.24 Hz +[2026-09-24 23:05:03,480][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.003857 s, max step_time: 0.009630 s +[2026-09-24 23:05:04,495][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 +[2026-09-24 23:05:07,282][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.23 Hz +[2026-09-24 23:05:07,675][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003843 s, max step_time: 0.009661 s +[2026-09-24 23:05:09,505][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.45 iterations per second over 14.40 seconds. +[2026-09-24 23:05:09,512][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.56 iterations per second over 17.25 seconds. +[2026-09-24 23:05:12,215][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 23:05:12,216][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 23:05:12,216][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 23:05:12,216][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 23:05:12,217][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 23:05:12,217][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 23:05:12,217][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 23:05:12,217][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 23:05:12,217][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 23:05:12,218][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 23:05:12,218][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 23:05:12,218][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 23:05:12,218][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 23:05:12,218][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 23:05:12,218][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 23:05:12,218][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} +[2026-09-24 23:05:12,218][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 +[2026-09-24 23:05:12,218][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 +[2026-09-24 23:05:12,218][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:05:12,218][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:05:12,219][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:05:12,219][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:05:12,219][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:05:12,219][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:05:12,219][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:05:12,219][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:05:12,219][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:05:12,219][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:05:12,219][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 23:05:12,219][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 +[2026-09-24 23:05:12,220][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:05:12,232][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:05:12,243][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 23:05:12,254][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:05:12,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:05:12,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:12,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:05:12,298][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:05:12,309][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:12,321][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:05:12,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:05:12,343][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:12,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:05:12,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:05:12,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:12,387][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:05:12,399][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:05:12,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:12,421][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:05:12,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:05:12,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:12,455][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:05:12,455][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-24 23:05:12,455][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 +[2026-09-24 23:05:12,455][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:05:12,511][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 +[2026-09-24 23:05:12,566][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 +[2026-09-24 23:05:12,622][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 +[2026-09-24 23:05:12,677][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 +[2026-09-24 23:05:12,733][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 +[2026-09-24 23:05:12,789][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 +[2026-09-24 23:05:12,844][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 +[2026-09-24 23:05:12,844][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) +[2026-09-24 23:05:12,845][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:05:12,845][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:05:12,856][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:05:12,862][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:05:12,868][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:05:12,874][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:05:12,881][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:05:12,887][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:05:12,894][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:05:12,900][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)] +[2026-09-24 23:05:12,900][root][INFO] - current_pos: [-0.020027466239413982, -0.0001907377737087046, 0.0020981155107957505, 0.0020981155107957505, -0.017357137407492118, 0.24319066147859836, 0.01583123521782248] +[2026-09-24 23:05:12,900][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:05:12,900][root][INFO] - starting separate thread for control loop +[2026-09-24 23:05:13,001][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=-0.020027466239413982, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790262313.0009987), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790262313.0009987), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1790262313.0009987), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0020981155107957505, voltage=-1, temp_mos=32.0, temp_rotor=35.0, timestamp=1790262313.0009987), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.017357137407492118, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790262313.0009987), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.24319066147859836, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790262313.0009987), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790262313.0009987)] +[2026-09-24 23:05:13,001][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:05:13,001][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-24 23:05:13,001][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:05:13,678][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695 +[2026-09-24 23:05:13,978][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:05:14,608][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 23:05:14,908][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174639479) +[2026-09-24 23:05:14,908][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-24 23:05:15,147][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 +[2026-09-24 23:05:15,147][root][INFO] - initializing, .... +[2026-09-24 23:05:15,147][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 +[2026-09-24 23:05:15,147][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:05:15,147][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:05:15,147][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:05:15,147][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:05:15,148][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:05:15,148][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:05:15,148][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:05:15,148][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:05:15,148][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:05:15,148][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:05:15,148][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 23:05:15,148][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 +[2026-09-24 23:05:15,148][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:05:15,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:05:15,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:15,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:05:15,191][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:05:15,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:15,213][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:05:15,224][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:05:15,234][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:15,245][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:05:15,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:05:15,267][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:15,277][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:05:15,288][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:05:15,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:15,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:05:15,320][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:05:15,331][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:15,342][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:05:15,353][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:05:15,363][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:05:15,374][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:05:15,374][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 23:05:15,374][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 +[2026-09-24 23:05:15,374][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:05:15,428][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 +[2026-09-24 23:05:15,481][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 +[2026-09-24 23:05:15,535][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 +[2026-09-24 23:05:15,589][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 +[2026-09-24 23:05:15,643][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 +[2026-09-24 23:05:15,696][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 +[2026-09-24 23:05:15,750][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 +[2026-09-24 23:05:15,750][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) +[2026-09-24 23:05:15,750][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:05:15,750][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:05:15,761][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:05:15,766][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:05:15,772][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:05:15,778][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:05:15,784][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:05:15,790][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:05:15,796][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:05:15,802][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-24 23:05:15,802][root][INFO] - current_pos: [-0.005912870984969842, -0.0020981155107957505, 0.000953688868543523, 0.0036240177004653873, 0.02117189288166621, -0.08182650492103427, 0.703631647211413] +[2026-09-24 23:05:15,802][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:05:15,802][root][INFO] - starting separate thread for control loop +[2026-09-24 23:05:15,902][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=-0.005912870984969842, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790262315.9028032), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790262315.9028032), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=32.0, timestamp=1790262315.9028032), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.003242542153047978, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1790262315.9028032), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.0073260073260073, pos=0.02117189288166621, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1790262315.9028032), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.08182650492103427, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790262315.9028032), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.703631647211413, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790262315.9028032)] +[2026-09-24 23:05:15,902][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:05:15,903][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.7036 +[2026-09-24 23:05:15,903][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:05:16,580][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 23:05:16,880][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:05:17,507][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-24 23:05:17,807][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011253528648817124) +[2026-09-24 23:05:17,808][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01125353] +[2026-09-24 23:05:17,944][root][INFO] - initializing, .... +[2026-09-24 23:05:25,149][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.19 Hz +[2026-09-24 23:05:27,947][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.65 Hz +[2026-09-24 23:05:35,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.41 Hz +[2026-09-24 23:05:37,949][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.15 Hz +[2026-09-24 23:05:42,903][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.38 iterations per second over 30.00 seconds. +[2026-09-24 23:05:42,903][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003796 s, max step_time: 0.065521 s +[2026-09-24 23:05:45,156][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 +[2026-09-24 23:05:45,802][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.36 iterations per second over 30.00 seconds. +[2026-09-24 23:05:45,803][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003855 s, max step_time: 0.065411 s +[2026-09-24 23:05:47,951][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.55 Hz +[2026-09-24 23:05:55,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.51 Hz +[2026-09-24 23:05:57,951][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 +[2026-09-24 23:06:05,162][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 +[2026-09-24 23:06:07,955][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 +[2026-09-24 23:06:12,905][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.41 iterations per second over 30.00 seconds. +[2026-09-24 23:06:12,906][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003855 s, max step_time: 0.007494 s +[2026-09-24 23:06:15,164][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 +[2026-09-24 23:06:15,805][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.41 iterations per second over 30.00 seconds. +[2026-09-24 23:06:15,805][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003855 s, max step_time: 0.008702 s +[2026-09-24 23:06:17,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.41 Hz +[2026-09-24 23:06:25,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.44 Hz +[2026-09-24 23:06:27,961][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.71 Hz +[2026-09-24 23:06:35,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.19 Hz +[2026-09-24 23:06:37,964][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.82 Hz +[2026-09-24 23:06:42,908][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.51 iterations per second over 30.00 seconds. +[2026-09-24 23:06:42,909][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003868 s, max step_time: 0.009850 s +[2026-09-24 23:06:45,172][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.50 Hz +[2026-09-24 23:06:45,807][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.82 iterations per second over 30.00 seconds. +[2026-09-24 23:06:45,807][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003849 s, max step_time: 0.008463 s +[2026-09-24 23:06:47,965][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 +[2026-09-24 23:06:55,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.42 Hz +[2026-09-24 23:06:57,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.98 Hz +[2026-09-24 23:07:05,175][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.15 Hz +[2026-09-24 23:07:07,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.69 Hz +[2026-09-24 23:07:12,913][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.52 iterations per second over 30.01 seconds. +[2026-09-24 23:07:12,913][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003868 s, max step_time: 0.007197 s +[2026-09-24 23:07:15,179][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.91 Hz +[2026-09-24 23:07:15,808][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.25 iterations per second over 30.00 seconds. +[2026-09-24 23:07:15,809][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003872 s, max step_time: 0.007511 s +[2026-09-24 23:07:17,968][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.76 Hz +[2026-09-24 23:07:25,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.39 Hz +[2026-09-24 23:07:27,970][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.97 Hz +[2026-09-24 23:07:35,180][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 +[2026-09-24 23:07:37,971][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.55 Hz +[2026-09-24 23:07:42,914][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.60 iterations per second over 30.00 seconds. +[2026-09-24 23:07:45,184][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.51 Hz +[2026-09-24 23:07:45,812][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.07 iterations per second over 30.00 seconds. +[2026-09-24 23:07:45,812][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003890 s, max step_time: 0.007663 s +[2026-09-24 23:07:47,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.55 Hz +[2026-09-24 23:07:54,271][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003872 s, max step_time: 0.007600 s +[2026-09-24 23:07:55,185][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.69 Hz +[2026-09-24 23:07:57,973][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 +[2026-09-24 23:08:05,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.01 Hz +[2026-09-24 23:08:07,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.37 Hz +[2026-09-24 23:08:12,914][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.33 iterations per second over 30.00 seconds. +[2026-09-24 23:08:15,192][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.15 Hz +[2026-09-24 23:08:15,816][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.77 iterations per second over 30.00 seconds. +[2026-09-24 23:08:15,816][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003972 s, max step_time: 0.009657 s +[2026-09-24 23:08:16,775][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] +[2026-09-24 23:08:16,775][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] +[2026-09-24 23:08:17,978][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 +[2026-09-24 23:08:24,273][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003970 s, max step_time: 0.019354 s +[2026-09-24 23:08:25,192][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.92 Hz +[2026-09-24 23:08:27,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.10 Hz +[2026-09-24 23:08:35,193][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 267.48 Hz +[2026-09-24 23:08:37,984][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.16 Hz +[2026-09-24 23:08:42,916][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.48 iterations per second over 30.00 seconds. +[2026-09-24 23:08:45,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.51 Hz +[2026-09-24 23:08:45,817][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 265.42 iterations per second over 30.00 seconds. +[2026-09-24 23:08:45,817][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003768 s, max step_time: 0.027922 s +[2026-09-24 23:08:47,986][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.32 Hz +[2026-09-24 23:08:54,277][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003717 s, max step_time: 0.009019 s +[2026-09-24 23:08:55,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.50 Hz +[2026-09-24 23:08:57,988][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 272.14 Hz +[2026-09-24 23:08:59,242][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 272.34 iterations per second over 13.42 seconds. +[2026-09-24 23:08:59,248][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.55 iterations per second over 16.33 seconds. +[2026-09-24 23:09:00,702][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 23:09:00,703][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 23:09:00,703][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 23:09:00,704][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 23:09:00,704][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 23:09:00,704][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 23:09:00,704][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 23:09:00,704][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 23:09:00,704][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 23:09:00,705][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 23:09:00,705][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 23:09:00,705][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 23:09:00,705][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 23:09:00,705][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 23:09:00,705][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 23:09:00,705][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} +[2026-09-24 23:09:00,705][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 +[2026-09-24 23:09:00,705][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 +[2026-09-24 23:09:00,706][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:09:00,706][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:09:00,706][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:09:00,706][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:09:00,706][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:09:00,706][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:09:00,706][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:09:00,706][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:09:00,706][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:09:00,706][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:09:00,706][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 23:09:00,706][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 +[2026-09-24 23:09:00,707][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:09:00,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:09:00,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 23:09:00,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:09:00,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:09:00,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:00,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:09:00,785][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:09:00,796][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:00,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:09:00,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:09:00,829][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:00,840][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:09:00,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:09:00,862][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:00,873][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:09:00,884][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:09:00,895][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:00,906][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:09:00,916][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:09:00,927][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:00,938][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:09:00,938][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 23:09:00,938][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 +[2026-09-24 23:09:00,938][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:09:00,992][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 +[2026-09-24 23:09:01,046][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 +[2026-09-24 23:09:01,100][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 +[2026-09-24 23:09:01,154][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 +[2026-09-24 23:09:01,207][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 +[2026-09-24 23:09:01,261][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 +[2026-09-24 23:09:01,316][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 +[2026-09-24 23:09:01,316][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) +[2026-09-24 23:09:01,316][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:09:01,316][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:09:01,327][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:09:01,332][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:09:01,338][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:09:01,344][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:09:01,350][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:09:01,356][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:09:01,362][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:09:01,368][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=-0.0024420024420024333, 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)] +[2026-09-24 23:09:01,368][root][INFO] - current_pos: [-0.02117189288166621, -0.000953688868543523, 0.0024795910582131597, 0.0020981155107957505, -0.020027466239413982, 0.28477149614709774, -0.0024795910582131597] +[2026-09-24 23:09:01,368][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:09:01,368][root][INFO] - starting separate thread for control loop +[2026-09-24 23:09:01,469][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=-0.020790417334245248, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790262541.4691257), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790262541.4691257), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.0020981155107957505, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1790262541.4691257), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0020981155107957505, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1790262541.4691257), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.020027466239413982, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790262541.4691257), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.28477149614709774, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790262541.4691257), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0024795910582131597, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790262541.4691257)] +[2026-09-24 23:09:01,469][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:09:01,469][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0025 +[2026-09-24 23:09:01,469][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:09:02,095][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2699 +[2026-09-24 23:09:02,396][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:09:03,026][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 23:09:03,326][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269893949797819, -0.007438773174643032) +[2026-09-24 23:09:03,327][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26989395 -0.00743877] +[2026-09-24 23:09:03,565][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 +[2026-09-24 23:09:03,565][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 +[2026-09-24 23:09:03,565][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:09:03,565][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:09:03,565][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:09:03,565][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:09:03,565][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:09:03,565][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:09:03,565][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:09:03,565][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:09:03,565][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:09:03,565][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:09:03,565][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 23:09:03,565][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 +[2026-09-24 23:09:03,566][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:09:03,566][root][INFO] - initializing, .... +[2026-09-24 23:09:03,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:09:03,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:03,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:09:03,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:09:03,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:03,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:09:03,643][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:09:03,654][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:03,665][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:09:03,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:09:03,686][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:03,697][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:09:03,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:09:03,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:03,729][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:09:03,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:09:03,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:03,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:09:03,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:09:03,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:09:03,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:09:03,794][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 23:09:03,794][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 +[2026-09-24 23:09:03,794][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:09:03,849][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 +[2026-09-24 23:09:03,905][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 +[2026-09-24 23:09:03,960][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 +[2026-09-24 23:09:04,015][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 +[2026-09-24 23:09:04,070][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 +[2026-09-24 23:09:04,125][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 +[2026-09-24 23:09:04,180][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 +[2026-09-24 23:09:04,180][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) +[2026-09-24 23:09:04,180][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:09:04,180][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:09:04,191][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:09:04,197][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:09:04,203][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:09:04,209][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:09:04,215][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:09:04,222][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:09:04,229][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:09:04,235][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)] +[2026-09-24 23:09:04,235][root][INFO] - current_pos: [-0.09098191805905209, -0.0020981155107957505, 0.0005722133211261138, 0.0013351644159609322, -0.004386968795300206, -0.08068207827878204, -0.004386968795300206] +[2026-09-24 23:09:04,236][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:09:04,236][root][INFO] - starting separate thread for control loop +[2026-09-24 23:09:04,336][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=-0.09098191805905209, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790262544.3364334), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.07521367521367495, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790262544.3364334), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=32.0, timestamp=1790262544.3364334), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=37.0, timestamp=1790262544.3364334), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.004386968795300206, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790262544.3364334), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.08068207827878204, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790262544.3364334), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.004386968795300206, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790262544.3364334)] +[2026-09-24 23:09:04,336][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:09:04,336][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-24 23:09:04,336][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:09:05,016][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 23:09:05,317][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:09:05,950][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-24 23:09:06,250][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011253528648817124) +[2026-09-24 23:09:06,250][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01125353] +[2026-09-24 23:09:06,384][root][INFO] - initializing, .... +[2026-09-24 23:09:13,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.06 Hz +[2026-09-24 23:09:16,386][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 +[2026-09-24 23:09:23,577][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.60 Hz +[2026-09-24 23:09:26,388][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.16 Hz +[2026-09-24 23:09:31,369][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.49 iterations per second over 30.00 seconds. +[2026-09-24 23:09:31,369][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003944 s, max step_time: 0.069775 s +[2026-09-24 23:09:33,581][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 +[2026-09-24 23:09:34,237][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.22 iterations per second over 30.00 seconds. +[2026-09-24 23:09:34,237][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003996 s, max step_time: 0.071046 s +[2026-09-24 23:09:36,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.69 Hz +[2026-09-24 23:09:39,276][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] +[2026-09-24 23:09:39,276][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] +[2026-09-24 23:09:43,580][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.29 Hz +[2026-09-24 23:09:46,390][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.26 Hz +[2026-09-24 23:09:53,583][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.71 Hz +[2026-09-24 23:09:56,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.44 Hz +[2026-09-24 23:10:01,371][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.19 iterations per second over 30.00 seconds. +[2026-09-24 23:10:01,371][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003888 s, max step_time: 0.029626 s +[2026-09-24 23:10:03,585][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.75 Hz +[2026-09-24 23:10:04,238][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.96 iterations per second over 30.00 seconds. +[2026-09-24 23:10:04,238][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003877 s, max step_time: 0.030349 s +[2026-09-24 23:10:06,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.03 Hz +[2026-09-24 23:10:13,588][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.52 Hz +[2026-09-24 23:10:16,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.94 Hz +[2026-09-24 23:10:23,589][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.17 Hz +[2026-09-24 23:10:26,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.19 Hz +[2026-09-24 23:10:31,373][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.52 iterations per second over 30.00 seconds. +[2026-09-24 23:10:31,373][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003809 s, max step_time: 0.007085 s +[2026-09-24 23:10:33,590][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.45 Hz +[2026-09-24 23:10:34,239][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.99 iterations per second over 30.00 seconds. +[2026-09-24 23:10:34,269][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003821 s, max step_time: 0.033459 s +[2026-09-24 23:10:36,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.28 Hz +[2026-09-24 23:10:43,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.48 Hz +[2026-09-24 23:10:46,400][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.94 Hz +[2026-09-24 23:10:53,593][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.77 Hz +[2026-09-24 23:10:56,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.92 Hz +[2026-09-24 23:11:01,375][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.02 iterations per second over 30.00 seconds. +[2026-09-24 23:11:03,011][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003891 s, max step_time: 0.008334 s +[2026-09-24 23:11:03,596][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.44 Hz +[2026-09-24 23:11:04,240][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.36 iterations per second over 30.00 seconds. +[2026-09-24 23:11:04,271][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003912 s, max step_time: 0.008392 s +[2026-09-24 23:11:06,408][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.72 Hz +[2026-09-24 23:11:13,599][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.94 Hz +[2026-09-24 23:11:16,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.51 Hz +[2026-09-24 23:11:22,127][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] +[2026-09-24 23:11:22,127][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] +[2026-09-24 23:11:23,600][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.85 Hz +[2026-09-24 23:11:26,412][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.16 Hz +[2026-09-24 23:11:31,378][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.07 iterations per second over 30.00 seconds. +[2026-09-24 23:11:33,013][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003964 s, max step_time: 0.029534 s +[2026-09-24 23:11:33,600][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.59 Hz +[2026-09-24 23:11:34,243][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.01 iterations per second over 30.00 seconds. +[2026-09-24 23:11:34,273][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003969 s, max step_time: 0.026775 s +[2026-09-24 23:11:36,415][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.22 Hz +[2026-09-24 23:11:43,601][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 +[2026-09-24 23:11:46,416][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.48 Hz +[2026-09-24 23:11:53,604][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.92 Hz +[2026-09-24 23:11:56,416][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.69 Hz +[2026-09-24 23:12:01,381][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.24 iterations per second over 30.00 seconds. +[2026-09-24 23:12:03,014][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003845 s, max step_time: 0.007688 s +[2026-09-24 23:12:03,606][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 +[2026-09-24 23:12:04,246][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.74 iterations per second over 30.00 seconds. +[2026-09-24 23:12:06,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.21 Hz +[2026-09-24 23:12:13,606][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.48 Hz +[2026-09-24 23:12:16,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.58 Hz +[2026-09-24 23:12:21,840][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003829 s, max step_time: 0.007641 s +[2026-09-24 23:12:23,607][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.56 Hz +[2026-09-24 23:12:26,422][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.25 Hz +[2026-09-24 23:12:31,382][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.32 iterations per second over 30.00 seconds. +[2026-09-24 23:12:33,017][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003812 s, max step_time: 0.010309 s +[2026-09-24 23:12:33,610][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.12 Hz +[2026-09-24 23:12:34,247][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.36 iterations per second over 30.00 seconds. +[2026-09-24 23:12:36,423][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.09 Hz +[2026-09-24 23:12:43,612][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.59 Hz +[2026-09-24 23:12:46,425][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.24 Hz +[2026-09-24 23:12:51,842][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.003860 s, max step_time: 0.012719 s +[2026-09-24 23:12:53,614][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.14 Hz +[2026-09-24 23:12:56,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.97 Hz +[2026-09-24 23:13:01,384][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.45 iterations per second over 30.00 seconds. +[2026-09-24 23:13:03,018][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 57 times, mean step_time: 0.003837 s, max step_time: 0.009863 s +[2026-09-24 23:13:03,614][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.10 Hz +[2026-09-24 23:13:04,248][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.69 iterations per second over 30.00 seconds. +[2026-09-24 23:13:06,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.79 Hz +[2026-09-24 23:13:13,617][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.50 Hz +[2026-09-24 23:13:16,429][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.88 Hz +[2026-09-24 23:13:21,842][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003847 s, max step_time: 0.009690 s +[2026-09-24 23:13:23,622][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 +[2026-09-24 23:13:26,428][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.30 Hz +[2026-09-24 23:13:31,387][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.17 iterations per second over 30.00 seconds. +[2026-09-24 23:13:33,019][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003829 s, max step_time: 0.009292 s +[2026-09-24 23:13:33,623][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.13 Hz +[2026-09-24 23:13:34,250][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.42 iterations per second over 30.00 seconds. +[2026-09-24 23:13:36,428][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.60 Hz +[2026-09-24 23:13:43,626][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.14 Hz +[2026-09-24 23:13:46,428][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 +[2026-09-24 23:13:51,843][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003808 s, max step_time: 0.009412 s +[2026-09-24 23:13:53,627][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.57 Hz +[2026-09-24 23:13:56,431][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.32 Hz +[2026-09-24 23:14:01,389][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.16 iterations per second over 30.00 seconds. +[2026-09-24 23:14:03,021][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 38 times, mean step_time: 0.003800 s, max step_time: 0.010212 s +[2026-09-24 23:14:03,635][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.91 Hz +[2026-09-24 23:14:04,253][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.01 iterations per second over 30.00 seconds. +[2026-09-24 23:14:06,433][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.68 Hz +[2026-09-24 23:14:13,633][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.31 Hz +[2026-09-24 23:14:16,436][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.81 Hz +[2026-09-24 23:14:21,844][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 58 times, mean step_time: 0.003878 s, max step_time: 0.011362 s +[2026-09-24 23:14:23,637][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.12 Hz +[2026-09-24 23:14:26,437][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.08 Hz +[2026-09-24 23:14:31,392][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.07 iterations per second over 30.00 seconds. +[2026-09-24 23:14:33,022][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 78 times, mean step_time: 0.003905 s, max step_time: 0.033670 s +[2026-09-24 23:14:33,637][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.50 Hz +[2026-09-24 23:14:34,254][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.49 iterations per second over 30.00 seconds. +[2026-09-24 23:14:36,439][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 +[2026-09-24 23:14:37,777][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.56 iterations per second over 3.52 seconds. +[2026-09-24 23:14:37,784][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.41 iterations per second over 6.39 seconds. +[2026-09-24 23:14:40,528][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 23:14:40,529][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 23:14:40,529][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 23:14:40,529][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 23:14:40,530][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 23:14:40,530][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 23:14:40,530][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 23:14:40,530][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 23:14:40,530][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 23:14:40,531][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 23:14:40,531][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 23:14:40,531][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 23:14:40,531][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 23:14:40,531][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 23:14:40,531][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 23:14:40,531][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} +[2026-09-24 23:14:40,531][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 +[2026-09-24 23:14:40,531][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 +[2026-09-24 23:14:40,532][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:14:40,532][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:14:40,532][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:14:40,532][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:14:40,532][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:14:40,532][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:14:40,532][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:14:40,532][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:14:40,532][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:14:40,532][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:14:40,532][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 23:14:40,532][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 +[2026-09-24 23:14:40,533][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:14:40,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:14:40,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 23:14:40,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:14:40,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:14:40,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:40,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:14:40,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:14:40,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:40,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:14:40,643][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:14:40,654][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:40,665][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:14:40,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:14:40,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:40,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:14:40,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:14:40,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:40,731][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:14:40,742][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:14:40,753][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:40,764][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:14:40,764][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 23:14:40,764][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 +[2026-09-24 23:14:40,764][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:14:40,820][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 +[2026-09-24 23:14:40,875][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 +[2026-09-24 23:14:40,931][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 +[2026-09-24 23:14:40,986][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 +[2026-09-24 23:14:41,041][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 +[2026-09-24 23:14:41,096][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 +[2026-09-24 23:14:41,151][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 +[2026-09-24 23:14:41,151][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) +[2026-09-24 23:14:41,151][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:14:41,151][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:14:41,162][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:14:41,168][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:14:41,174][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:14:41,181][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:14:41,188][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:14:41,194][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:14:41,200][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:14:41,206][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=0.0073260073260073, 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)] +[2026-09-24 23:14:41,206][root][INFO] - current_pos: [-0.024605172808422893, -0.000953688868543523, 0.0024795910582131597, 0.0017166399633783413, -0.01697566186007471, 0.137521934843976, -0.0013351644159609322] +[2026-09-24 23:14:41,206][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:14:41,206][root][INFO] - starting separate thread for control loop +[2026-09-24 23:14:41,307][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=-0.024605172808422893, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790262881.3071659), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.0013351644159644849, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790262881.3071659), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1790262881.3071659), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0017166399633783413, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1790262881.3071659), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.01697566186007471, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790262881.3071659), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.137521934843976, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790262881.3071659), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790262881.3071659)] +[2026-09-24 23:14:41,307][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:14:41,307][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013 +[2026-09-24 23:14:41,307][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:14:41,935][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-24 23:14:42,236][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:14:42,866][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 23:14:43,167][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032) +[2026-09-24 23:14:43,167][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-24 23:14:43,404][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 +[2026-09-24 23:14:43,404][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 +[2026-09-24 23:14:43,404][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:14:43,404][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:14:43,404][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:14:43,404][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:14:43,404][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:14:43,404][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:14:43,404][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:14:43,404][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:14:43,404][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:14:43,404][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:14:43,404][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 23:14:43,404][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 +[2026-09-24 23:14:43,405][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:14:43,407][root][INFO] - initializing, .... +[2026-09-24 23:14:43,416][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:14:43,426][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:43,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:14:43,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:14:43,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:43,469][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:14:43,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:14:43,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:43,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:14:43,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:14:43,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:43,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:14:43,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:14:43,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:43,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:14:43,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:14:43,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:43,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:14:43,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:14:43,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:14:43,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:14:43,632][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 23:14:43,632][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 +[2026-09-24 23:14:43,632][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:14:43,686][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 +[2026-09-24 23:14:43,739][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 +[2026-09-24 23:14:43,793][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 +[2026-09-24 23:14:43,846][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 +[2026-09-24 23:14:43,900][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 +[2026-09-24 23:14:43,954][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 +[2026-09-24 23:14:44,007][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 +[2026-09-24 23:14:44,007][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) +[2026-09-24 23:14:44,008][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:14:44,008][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:14:44,018][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:14:44,024][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:14:44,030][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:14:44,036][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:14:44,042][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:14:44,048][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:14:44,054][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:14:44,061][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)] +[2026-09-24 23:14:44,061][root][INFO] - current_pos: [-0.004768444342717615, -0.0020981155107957505, 0.0005722133211261138, 0.000953688868543523, 0.002861066605630569, 0.06008239871824195, 1.244563973449301] +[2026-09-24 23:14:44,061][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:14:44,062][root][INFO] - starting separate thread for control loop +[2026-09-24 23:14:44,162][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=-0.004768444342717615, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790262884.1625235), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1790262884.1625235), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1790262884.1625235), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1790262884.1625235), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.002861066605630569, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790262884.1625235), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.06008239871824195, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790262884.1625235), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=1.244563973449301, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790262884.1625235)] +[2026-09-24 23:14:44,162][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:14:44,162][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.2446 +[2026-09-24 23:14:44,162][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:14:44,795][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 23:14:45,095][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:14:45,718][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-24 23:14:46,018][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.01163500419623098) +[2026-09-24 23:14:46,018][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.011635 ] +[2026-09-24 23:14:46,143][root][INFO] - initializing, .... +[2026-09-24 23:14:53,410][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.91 Hz +[2026-09-24 23:14:56,144][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.98 Hz +[2026-09-24 23:15:03,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.99 Hz +[2026-09-24 23:15:06,145][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.70 Hz +[2026-09-24 23:15:11,209][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 264.45 iterations per second over 30.00 seconds. +[2026-09-24 23:15:11,209][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003781 s, max step_time: 0.078136 s +[2026-09-24 23:15:13,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.16 Hz +[2026-09-24 23:15:14,064][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.32 iterations per second over 30.00 seconds. +[2026-09-24 23:15:14,064][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003826 s, max step_time: 0.074440 s +[2026-09-24 23:15:16,148][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.92 Hz +[2026-09-24 23:15:23,412][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.40 Hz +[2026-09-24 23:15:26,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.42 Hz +[2026-09-24 23:15:33,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.76 Hz +[2026-09-24 23:15:36,152][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.66 Hz +[2026-09-24 23:15:41,210][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.16 iterations per second over 30.00 seconds. +[2026-09-24 23:15:41,210][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003844 s, max step_time: 0.008008 s +[2026-09-24 23:15:43,415][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.46 Hz +[2026-09-24 23:15:44,066][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.75 iterations per second over 30.00 seconds. +[2026-09-24 23:15:45,824][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003867 s, max step_time: 0.007993 s +[2026-09-24 23:15:46,154][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 +[2026-09-24 23:15:53,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.93 Hz +[2026-09-24 23:15:56,154][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.79 Hz +[2026-09-24 23:15:57,334][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] +[2026-09-24 23:15:57,335][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] +[2026-09-24 23:16:03,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.49 Hz +[2026-09-24 23:16:06,157][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.74 Hz +[2026-09-24 23:16:11,210][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.10 iterations per second over 30.00 seconds. +[2026-09-24 23:16:11,210][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003905 s, max step_time: 0.019343 s +[2026-09-24 23:16:13,419][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.08 Hz +[2026-09-24 23:16:14,069][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.64 iterations per second over 30.00 seconds. +[2026-09-24 23:16:15,827][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003872 s, max step_time: 0.018668 s +[2026-09-24 23:16:16,157][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.09 Hz +[2026-09-24 23:16:23,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.63 Hz +[2026-09-24 23:16:26,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.52 Hz +[2026-09-24 23:16:33,423][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.44 Hz +[2026-09-24 23:16:36,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.75 Hz +[2026-09-24 23:16:39,376][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.29 iterations per second over 25.31 seconds. +[2026-09-24 23:16:39,382][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.16 iterations per second over 28.17 seconds. +[2026-09-24 23:16:40,655][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 23:16:40,656][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 23:16:40,656][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 23:16:40,656][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 23:16:40,656][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 23:16:40,656][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 23:16:40,656][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 23:16:40,656][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 23:16:40,657][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 23:16:40,657][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 23:16:40,657][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 23:16:40,657][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 23:16:40,657][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 23:16:40,657][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 23:16:40,658][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 23:16:40,658][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} +[2026-09-24 23:16:40,658][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 +[2026-09-24 23:16:40,658][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 +[2026-09-24 23:16:40,658][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:16:40,658][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:16:40,658][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:16:40,658][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:16:40,658][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:16:40,658][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:16:40,658][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:16:40,658][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:16:40,658][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:16:40,658][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:16:40,658][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 23:16:40,658][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 +[2026-09-24 23:16:40,659][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:16:40,671][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:16:40,682][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 23:16:40,693][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:16:40,704][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:16:40,715][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:40,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:16:40,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:16:40,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:40,759][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:16:40,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:16:40,781][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:40,792][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:16:40,803][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:16:40,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:40,825][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:16:40,836][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:16:40,847][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:40,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:16:40,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:16:40,881][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:40,892][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:16:40,892][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 23:16:40,892][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 +[2026-09-24 23:16:40,892][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:16:40,947][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 +[2026-09-24 23:16:41,003][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 +[2026-09-24 23:16:41,058][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 +[2026-09-24 23:16:41,113][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 +[2026-09-24 23:16:41,169][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 +[2026-09-24 23:16:41,225][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 +[2026-09-24 23:16:41,278][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 +[2026-09-24 23:16:41,278][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) +[2026-09-24 23:16:41,279][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:16:41,279][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:16:41,289][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:16:41,295][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:16:41,301][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:16:41,307][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:16:41,313][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:16:41,320][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:16:41,326][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:16:41,332][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=0.0073260073260073, 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)] +[2026-09-24 23:16:41,332][root][INFO] - current_pos: [-0.02574959945067512, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, -0.005912870984969842, 0.16422522316319466, -0.0024795910582131597] +[2026-09-24 23:16:41,332][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:16:41,332][root][INFO] - starting separate thread for control loop +[2026-09-24 23:16:41,433][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=-0.02574959945067512, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790263001.4332275), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790263001.4332275), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790263001.4332275), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790263001.4332275), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.017094017094017033, pos=-0.005912870984969842, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790263001.4332275), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.16422522316319466, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790263001.4332275), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0024795910582131597, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790263001.4332275)] +[2026-09-24 23:16:41,433][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:16:41,433][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0025 +[2026-09-24 23:16:41,433][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:16:42,115][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-24 23:16:42,416][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:16:43,043][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 23:16:43,343][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174639479) +[2026-09-24 23:16:43,343][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00743877] +[2026-09-24 23:16:43,578][root][INFO] - initializing, .... +[2026-09-24 23:16:43,579][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 +[2026-09-24 23:16:43,579][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 +[2026-09-24 23:16:43,579][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:16:43,579][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:16:43,579][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:16:43,579][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:16:43,579][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:16:43,579][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:16:43,579][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:16:43,579][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:16:43,579][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:16:43,579][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:16:43,579][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 23:16:43,579][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 +[2026-09-24 23:16:43,580][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:16:43,590][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:16:43,601][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:43,612][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:16:43,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:16:43,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:43,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:16:43,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:16:43,665][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:43,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:16:43,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:16:43,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:43,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:16:43,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:16:43,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:43,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:16:43,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:16:43,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:43,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:16:43,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:16:43,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:16:43,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:16:43,805][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 23:16:43,805][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 +[2026-09-24 23:16:43,805][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:16:43,859][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 +[2026-09-24 23:16:43,912][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 +[2026-09-24 23:16:43,966][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 +[2026-09-24 23:16:44,019][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 +[2026-09-24 23:16:44,073][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 +[2026-09-24 23:16:44,126][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 +[2026-09-24 23:16:44,180][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 +[2026-09-24 23:16:44,180][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) +[2026-09-24 23:16:44,180][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:16:44,180][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:16:44,191][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:16:44,196][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:16:44,202][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:16:44,209][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:16:44,215][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:16:44,221][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:16:44,226][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:16:44,232][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=-0.0024420024420024333, 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)] +[2026-09-24 23:16:44,233][root][INFO] - current_pos: [-0.03452353704127553, -0.0020981155107957505, 0.000953688868543523, 0.0017166399633783413, -0.023842221713588074, -0.21000228885328376, 0.010490577553978753] +[2026-09-24 23:16:44,233][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:16:44,233][root][INFO] - starting separate thread for control loop +[2026-09-24 23:16:44,333][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.03452353704127553, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790263004.3338404), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1790263004.3338404), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1790263004.3338404), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790263004.3338404), 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=1790263004.3338404), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.2096208133058699, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790263004.3338404), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.010490577553978753, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790263004.3338404)] +[2026-09-24 23:16:44,333][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:16:44,334][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0105 +[2026-09-24 23:16:44,334][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:16:45,005][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 23:16:45,305][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:16:45,930][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-24 23:16:46,230][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011253528648817124) +[2026-09-24 23:16:46,230][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01125353] +[2026-09-24 23:16:46,363][root][INFO] - initializing, .... +[2026-09-24 23:16:53,582][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.67 Hz +[2026-09-24 23:16:56,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.22 Hz +[2026-09-24 23:17:03,584][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.46 Hz +[2026-09-24 23:17:06,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.30 Hz +[2026-09-24 23:17:08,736][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] +[2026-09-24 23:17:08,736][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] +[2026-09-24 23:17:11,334][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.09 iterations per second over 30.00 seconds. +[2026-09-24 23:17:11,334][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 36 times, mean step_time: 0.003966 s, max step_time: 0.073942 s +[2026-09-24 23:17:13,585][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.26 Hz +[2026-09-24 23:17:14,233][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.83 iterations per second over 30.00 seconds. +[2026-09-24 23:17:14,233][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.004018 s, max step_time: 0.075187 s +[2026-09-24 23:17:16,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.48 Hz +[2026-09-24 23:17:23,588][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 +[2026-09-24 23:17:26,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.15 Hz +[2026-09-24 23:17:33,587][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.79 Hz +[2026-09-24 23:17:36,376][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.72 Hz +[2026-09-24 23:17:41,337][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 265.64 iterations per second over 30.00 seconds. +[2026-09-24 23:17:41,337][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003764 s, max step_time: 0.007809 s +[2026-09-24 23:17:43,590][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 267.93 Hz +[2026-09-24 23:17:44,237][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 266.54 iterations per second over 30.00 seconds. +[2026-09-24 23:17:46,378][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.74 Hz +[2026-09-24 23:17:53,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.04 Hz +[2026-09-24 23:17:56,379][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.80 Hz +[2026-09-24 23:18:03,593][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.68 Hz +[2026-09-24 23:18:06,380][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.36 Hz +[2026-09-24 23:18:11,340][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 268.67 iterations per second over 30.00 seconds. +[2026-09-24 23:18:13,594][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.78 Hz +[2026-09-24 23:18:14,238][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.99 iterations per second over 30.00 seconds. +[2026-09-24 23:18:16,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.08 Hz +[2026-09-24 23:18:23,595][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.87 Hz +[2026-09-24 23:18:26,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.34 Hz +[2026-09-24 23:18:33,598][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.04 Hz +[2026-09-24 23:18:36,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.20 Hz +[2026-09-24 23:18:41,342][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.85 iterations per second over 30.00 seconds. +[2026-09-24 23:18:42,600][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.01 iterations per second over 28.36 seconds. +[2026-09-24 23:18:42,606][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 280.06 iterations per second over 1.26 seconds. +[2026-09-24 23:18:51,888][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 23:18:51,890][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 23:18:51,890][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 23:18:51,890][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 23:18:51,890][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 23:18:51,890][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 23:18:51,890][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 23:18:51,890][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 23:18:51,890][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 23:18:51,891][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 23:18:51,891][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 23:18:51,891][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 23:18:51,891][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 23:18:51,891][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 23:18:51,891][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 23:18:51,891][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} +[2026-09-24 23:18:51,892][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 +[2026-09-24 23:18:51,892][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 +[2026-09-24 23:18:51,892][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:18:51,892][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:18:51,892][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:18:51,892][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:18:51,892][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:18:51,892][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:18:51,892][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:18:51,892][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:18:51,892][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:18:51,892][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:18:51,892][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 23:18:51,892][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 +[2026-09-24 23:18:51,893][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:18:51,905][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:18:51,916][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 23:18:51,927][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:18:51,939][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:18:51,950][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:51,961][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:18:51,972][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:18:51,983][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:51,994][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:18:52,005][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:18:52,016][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:52,026][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:18:52,037][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:18:52,048][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:52,059][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:18:52,069][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:18:52,080][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:52,091][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:18:52,102][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:18:52,112][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:52,123][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:18:52,123][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 23:18:52,123][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 +[2026-09-24 23:18:52,123][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:18:52,177][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 +[2026-09-24 23:18:52,231][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 +[2026-09-24 23:18:52,285][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 +[2026-09-24 23:18:52,339][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 +[2026-09-24 23:18:52,393][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 +[2026-09-24 23:18:52,447][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 +[2026-09-24 23:18:52,501][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 +[2026-09-24 23:18:52,501][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) +[2026-09-24 23:18:52,501][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:18:52,501][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:18:52,512][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:18:52,518][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:18:52,524][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:18:52,530][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:18:52,536][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:18:52,542][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:18:52,548][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:18:52,554][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=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-24 23:18:52,554][root][INFO] - current_pos: [-0.023842221713588074, -0.0013351644159609322, 0.0017166399633783413, 0.0013351644159609322, 0.023079270618753256, -0.09746700236514805, 0.01583123521782248] +[2026-09-24 23:18:52,554][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:18:52,554][root][INFO] - starting separate thread for control loop +[2026-09-24 23:18:52,655][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=-0.023842221713588074, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790263132.6549847), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790263132.6549847), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1790263132.6549847), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.0017166399633783413, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1790263132.6549847), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.023079270618753256, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790263132.6549847), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.0978484779125619, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790263132.6549847), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790263132.6549847)] +[2026-09-24 23:18:52,655][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:18:52,655][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-24 23:18:52,655][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:18:53,335][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-24 23:18:53,635][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:18:54,266][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 23:18:54,619][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174639479) +[2026-09-24 23:18:54,619][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-24 23:18:54,857][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 +[2026-09-24 23:18:54,857][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 +[2026-09-24 23:18:54,857][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 23:18:54,857][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 23:18:54,857][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 23:18:54,857][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 23:18:54,857][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 23:18:54,857][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 23:18:54,857][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 23:18:54,857][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 23:18:54,857][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 23:18:54,857][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 23:18:54,857][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 23:18:54,857][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 +[2026-09-24 23:18:54,858][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:18:54,859][root][INFO] - initializing, .... +[2026-09-24 23:18:54,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 23:18:54,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:54,890][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:18:54,901][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 23:18:54,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:54,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:18:54,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 23:18:54,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:54,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 23:18:54,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 23:18:54,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:54,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:18:54,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 23:18:55,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:55,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:18:55,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 23:18:55,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:55,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:18:55,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 23:18:55,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 23:18:55,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 23:18:55,083][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 23:18:55,083][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 +[2026-09-24 23:18:55,083][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:18:55,137][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 +[2026-09-24 23:18:55,190][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 +[2026-09-24 23:18:55,244][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 +[2026-09-24 23:18:55,297][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 +[2026-09-24 23:18:55,351][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 +[2026-09-24 23:18:55,404][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 +[2026-09-24 23:18:55,458][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 +[2026-09-24 23:18:55,458][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) +[2026-09-24 23:18:55,458][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 23:18:55,458][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 23:18:55,469][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 23:18:55,474][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 23:18:55,480][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 23:18:55,486][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 23:18:55,492][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 23:18:55,498][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 23:18:55,504][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 23:18:55,510][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)] +[2026-09-24 23:18:55,510][root][INFO] - current_pos: [0.0745784695201035, -0.0020981155107957505, 0.0005722133211261138, 0.0024795910582131597, 0.02040894178683139, 0.05245288776989376, 0.017357137407492118] +[2026-09-24 23:18:55,510][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 23:18:55,510][root][INFO] - starting separate thread for control loop +[2026-09-24 23:18:55,610][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0745784695201035, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790263135.6105292), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790263135.6105292), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1790263135.6105292), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1790263135.6105292), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.02040894178683139, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1790263135.6105292), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.05283436331731117, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790263135.6105292), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.017357137407492118, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790263135.6105292)] +[2026-09-24 23:18:55,610][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 23:18:55,610][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0174 +[2026-09-24 23:18:55,610][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 23:18:56,289][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 23:18:56,589][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 23:18:57,213][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-24 23:18:57,514][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011253528648817124) +[2026-09-24 23:18:57,514][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01125353] +[2026-09-24 23:18:57,640][root][INFO] - initializing, .... +[2026-09-24 23:19:04,861][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.68 Hz +[2026-09-24 23:19:07,646][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.32 Hz +[2026-09-24 23:19:14,861][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.78 Hz +[2026-09-24 23:19:17,648][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.14 Hz +[2026-09-24 23:19:22,556][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.99 iterations per second over 30.00 seconds. +[2026-09-24 23:19:22,556][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003788 s, max step_time: 0.070640 s +[2026-09-24 23:19:24,863][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.45 Hz +[2026-09-24 23:19:25,512][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.22 iterations per second over 30.00 seconds. +[2026-09-24 23:19:25,512][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003843 s, max step_time: 0.068890 s +[2026-09-24 23:19:27,651][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.53 Hz +[2026-09-24 23:19:34,863][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.20 Hz +[2026-09-24 23:19:37,653][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 +[2026-09-24 23:19:44,864][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.18 Hz +[2026-09-24 23:19:47,654][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 +[2026-09-24 23:19:52,560][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.33 iterations per second over 30.00 seconds. +[2026-09-24 23:19:52,560][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003886 s, max step_time: 0.010663 s +[2026-09-24 23:19:54,864][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.70 Hz +[2026-09-24 23:19:55,512][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.13 iterations per second over 30.00 seconds. +[2026-09-24 23:19:55,512][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003904 s, max step_time: 0.012442 s +[2026-09-24 23:19:57,656][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 +[2026-09-24 23:20:03,727][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] +[2026-09-24 23:20:03,727][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] +[2026-09-24 23:20:04,866][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.75 Hz +[2026-09-24 23:20:07,660][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.61 Hz +[2026-09-24 23:20:14,866][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.40 Hz +[2026-09-24 23:20:17,660][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.80 Hz +[2026-09-24 23:20:22,561][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.79 iterations per second over 30.00 seconds. +[2026-09-24 23:20:22,561][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003925 s, max step_time: 0.019017 s +[2026-09-24 23:20:24,869][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 +[2026-09-24 23:20:25,513][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.73 iterations per second over 30.00 seconds. +[2026-09-24 23:20:25,513][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003926 s, max step_time: 0.025834 s +[2026-09-24 23:20:27,661][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 +[2026-09-24 23:20:34,871][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.28 Hz +[2026-09-24 23:20:37,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.95 Hz +[2026-09-24 23:20:44,874][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 +[2026-09-24 23:20:47,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.66 Hz +[2026-09-24 23:20:52,563][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.32 iterations per second over 30.00 seconds. +[2026-09-24 23:20:52,563][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003886 s, max step_time: 0.007901 s +[2026-09-24 23:20:54,878][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.90 Hz +[2026-09-24 23:20:55,515][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.91 iterations per second over 30.00 seconds. +[2026-09-24 23:20:55,515][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003908 s, max step_time: 0.008003 s +[2026-09-24 23:20:57,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.10 Hz +[2026-09-24 23:21:03,662][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] +[2026-09-24 23:21:03,662][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] +[2026-09-24 23:21:04,881][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.94 Hz +[2026-09-24 23:21:07,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.79 Hz +[2026-09-24 23:21:14,884][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.11 Hz +[2026-09-24 23:21:17,670][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.58 Hz +[2026-09-24 23:21:22,564][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.35 iterations per second over 30.00 seconds. +[2026-09-24 23:21:22,565][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003916 s, max step_time: 0.018749 s +[2026-09-24 23:21:24,886][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 +[2026-09-24 23:21:25,515][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.86 iterations per second over 30.00 seconds. +[2026-09-24 23:21:25,515][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003893 s, max step_time: 0.027127 s +[2026-09-24 23:21:27,672][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.24 Hz +[2026-09-24 23:21:34,887][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.38 Hz +[2026-09-24 23:21:37,676][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 +[2026-09-24 23:21:44,888][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.99 Hz +[2026-09-24 23:21:47,676][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.99 Hz +[2026-09-24 23:21:52,565][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.33 iterations per second over 30.00 seconds. +[2026-09-24 23:21:52,569][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003886 s, max step_time: 0.008561 s +[2026-09-24 23:21:54,891][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.13 Hz +[2026-09-24 23:21:55,520][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.03 iterations per second over 30.00 seconds. +[2026-09-24 23:21:55,520][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003906 s, max step_time: 0.008627 s +[2026-09-24 23:21:57,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.85 Hz +[2026-09-24 23:22:04,400][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] +[2026-09-24 23:22:04,400][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] +[2026-09-24 23:22:04,894][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.54 Hz +[2026-09-24 23:22:06,881][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.71 iterations per second over 11.36 seconds. +[2026-09-24 23:22:06,891][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.77 iterations per second over 14.33 seconds. diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/rounds.json b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..e3c28d4e9e682082da2fd8142c6576f998b4f23f --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/rounds.json @@ -0,0 +1,169 @@ +{ + "rounds": [ + { + "actions_sent": 158, + "chunks": 5, + "data_saved": true, + "operator_result": "failure", + "output_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/put_baozi/data/round_0001", + "reviewed_at_ns": 1790261082505746129, + "round_number": 1, + "status": "failed", + "task_success": false + }, + { + "actions_sent": 435, + "chunks": 14, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/put_baozi/data/round_0002", + "reviewed_at_ns": 1790261288797870806, + "round_number": 2, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 435, + "chunks": 14, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": 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+ ] +} diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/runtime/output.lock b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/put_baozi/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391