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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/pick_and_place_pomegranate/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..6c9db42251bac0a704ad55f2140f8ebecdfcef8e --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/hydra/openpi_rollout.log @@ -0,0 +1,1795 @@ +[2026-09-25 04:42:28,343][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 04:42:28,345][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 04:42:28,345][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 04:42:28,345][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 04:42:28,345][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 04:42:28,345][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 04:42:28,345][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 04:42:28,345][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 04:42:28,345][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-25 04:42:28,346][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 04:42:28,346][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 04:42:28,346][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 04:42:28,346][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 04:42:28,346][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 04:42:28,346][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 04:42:28,346][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} +[2026-09-25 04:42:28,347][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 +[2026-09-25 04:42:28,347][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 +[2026-09-25 04:42:28,347][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 04:42:28,347][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 04:42:28,347][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 04:42:28,347][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 04:42:28,347][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 04:42:28,347][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 04:42:28,347][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 04:42:28,347][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 04:42:28,347][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 04:42:28,347][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 04:42:28,348][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 04:42:28,348][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 +[2026-09-25 04:42:28,349][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:42:28,361][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 04:42:28,372][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 04:42:28,383][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:42:28,394][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 04:42:28,405][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:28,416][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:42:28,427][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 04:42:28,438][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:28,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:42:28,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 04:42:28,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:28,481][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:42:28,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 04:42:28,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:28,513][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:42:28,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 04:42:28,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:28,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:42:28,556][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 04:42:28,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:28,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:42:28,578][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 04:42:28,578][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 +[2026-09-25 04:42:28,578][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:42:28,633][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 +[2026-09-25 04:42:28,687][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 +[2026-09-25 04:42:28,742][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 +[2026-09-25 04:42:28,795][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 +[2026-09-25 04:42:28,849][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 +[2026-09-25 04:42:28,903][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 +[2026-09-25 04:42:28,957][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 +[2026-09-25 04:42:28,957][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) +[2026-09-25 04:42:28,957][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:42:28,957][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 04:42:28,968][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 04:42:28,973][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 04:42:28,979][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 04:42:28,985][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 04:42:28,991][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 04:42:28,997][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 04:42:29,003][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 04:42:29,010][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=0.012210012210012167, 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)] +[2026-09-25 04:42:29,010][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0024795910582131597, 0.0020981155107957505, -0.02536812390325771, 0.16880292973220357, -0.0024795910582131597] +[2026-09-25 04:42:29,010][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 04:42:29,010][root][INFO] - starting separate thread for control loop +[2026-09-25 04:42:29,111][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790282549.111287), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790282549.111287), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1790282549.111287), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.012210012210012167, pos=0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790282549.111287), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=-0.02536812390325771, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790282549.111287), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.16842145418478616, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790282549.111287), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790282549.111287)] +[2026-09-25 04:42:29,111][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 04:42:29,111][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0025 +[2026-09-25 04:42:29,111][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 04:42:29,739][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2703 +[2026-09-25 04:42:30,039][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 04:42:30,663][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0078 +[2026-09-25 04:42:30,963][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270275425345236, -0.007820248722056888) +[2026-09-25 04:42:30,964][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27027543 -0.00782025] +[2026-09-25 04:42:31,203][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 +[2026-09-25 04:42:31,203][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 +[2026-09-25 04:42:31,203][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 04:42:31,203][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 04:42:31,203][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 04:42:31,203][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 04:42:31,203][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 04:42:31,203][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 04:42:31,203][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 04:42:31,203][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 04:42:31,203][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 04:42:31,203][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 04:42:31,203][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 04:42:31,203][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 +[2026-09-25 04:42:31,203][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:42:31,204][root][INFO] - initializing, .... +[2026-09-25 04:42:31,214][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 04:42:31,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:31,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:42:31,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 04:42:31,259][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:31,270][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:42:31,282][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 04:42:31,293][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:31,304][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:42:31,315][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 04:42:31,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:31,338][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:42:31,349][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 04:42:31,360][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:31,371][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:42:31,382][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 04:42:31,393][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:31,404][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:42:31,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 04:42:31,426][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:42:31,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:42:31,437][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 04:42:31,437][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 +[2026-09-25 04:42:31,438][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:42:31,493][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 +[2026-09-25 04:42:31,546][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 +[2026-09-25 04:42:31,600][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 +[2026-09-25 04:42:31,654][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 +[2026-09-25 04:42:31,708][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 +[2026-09-25 04:42:31,763][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 +[2026-09-25 04:42:31,818][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 +[2026-09-25 04:42:31,818][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) +[2026-09-25 04:42:31,819][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:42:31,819][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 04:42:31,829][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 04:42:31,835][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 04:42:31,841][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 04:42:31,847][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 04:42:31,853][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 04:42:31,859][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 04:42:31,865][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 04:42:31,871][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=-0.0073260073260073, 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)] +[2026-09-25 04:42:31,871][root][INFO] - current_pos: [0.004768444342717615, -0.0020981155107957505, 0.000953688868543523, 0.0020981155107957505, -0.0455863279163804, 0.041771572442206306, 0.006294346532387252] +[2026-09-25 04:42:31,871][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 04:42:31,871][root][INFO] - starting separate thread for control loop +[2026-09-25 04:42:31,972][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.03418803418803407, pos=0.004386968795300206, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790282551.9723), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790282551.9723), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1790282551.9723), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0020981155107957505, voltage=-1, temp_mos=32.0, temp_rotor=30.0, timestamp=1790282551.9723), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.045967803463794255, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790282551.9723), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.041771572442206306, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790282551.9723), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.006294346532387252, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790282551.9723)] +[2026-09-25 04:42:31,972][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 04:42:31,972][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063 +[2026-09-25 04:42:31,972][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 04:42:32,596][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-25 04:42:32,897][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 04:42:33,514][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 04:42:33,814][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.01163500419623098) +[2026-09-25 04:42:33,814][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.011635 ] +[2026-09-25 04:42:33,953][root][INFO] - initializing, .... +[2026-09-25 04:42:41,206][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.49 Hz +[2026-09-25 04:42:43,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.09 Hz +[2026-09-25 04:42:51,206][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.90 Hz +[2026-09-25 04:42:53,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.58 Hz +[2026-09-25 04:42:59,013][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.58 iterations per second over 30.00 seconds. +[2026-09-25 04:42:59,013][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003793 s, max step_time: 0.062082 s +[2026-09-25 04:43:01,207][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.46 Hz +[2026-09-25 04:43:01,872][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.79 iterations per second over 30.00 seconds. +[2026-09-25 04:43:01,873][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003834 s, max step_time: 0.059620 s +[2026-09-25 04:43:03,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.62 Hz +[2026-09-25 04:43:11,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.67 Hz +[2026-09-25 04:43:13,967][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.28 Hz +[2026-09-25 04:43:21,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.35 Hz +[2026-09-25 04:43:23,967][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.59 Hz +[2026-09-25 04:43:29,016][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.81 iterations per second over 30.00 seconds. +[2026-09-25 04:43:29,016][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003864 s, max step_time: 0.007590 s +[2026-09-25 04:43:31,215][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.07 Hz +[2026-09-25 04:43:31,873][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.70 iterations per second over 30.00 seconds. +[2026-09-25 04:43:33,967][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 +[2026-09-25 04:43:41,218][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.31 Hz +[2026-09-25 04:43:43,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.95 Hz +[2026-09-25 04:43:47,865][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003854 s, max step_time: 0.014269 s +[2026-09-25 04:43:51,232][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 215.13 Hz +[2026-09-25 04:43:53,970][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 200.69 Hz +[2026-09-25 04:43:59,018][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 240.28 iterations per second over 30.00 seconds. +[2026-09-25 04:43:59,018][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 236 times, mean step_time: 0.004162 s, max step_time: 0.029370 s +[2026-09-25 04:44:01,230][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.33 Hz +[2026-09-25 04:44:01,251][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 238.30 iterations per second over 29.38 seconds. +[2026-09-25 04:44:01,257][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.57 iterations per second over 2.24 seconds. +[2026-09-25 04:44:12,708][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 04:44:12,710][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 04:44:12,710][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 04:44:12,710][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 04:44:12,710][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 04:44:12,710][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 04:44:12,710][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 04:44:12,710][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 04:44:12,710][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-25 04:44:12,711][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 04:44:12,711][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 04:44:12,711][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 04:44:12,711][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 04:44:12,711][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 04:44:12,711][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 04:44:12,711][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} +[2026-09-25 04:44:12,712][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 +[2026-09-25 04:44:12,712][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 +[2026-09-25 04:44:12,712][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 04:44:12,712][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 04:44:12,712][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 04:44:12,712][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 04:44:12,712][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 04:44:12,712][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 04:44:12,712][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 04:44:12,712][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 04:44:12,712][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 04:44:12,712][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 04:44:12,712][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 04:44:12,712][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 +[2026-09-25 04:44:12,713][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:44:12,725][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 04:44:12,736][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 04:44:12,747][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:44:12,758][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 04:44:12,769][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:12,780][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:44:12,791][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 04:44:12,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:12,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:44:12,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 04:44:12,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:12,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:44:12,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 04:44:12,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:12,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:44:12,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 04:44:12,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:12,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:44:12,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 04:44:12,936][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:12,947][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:44:12,947][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 04:44:12,947][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 +[2026-09-25 04:44:12,947][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:44:13,002][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 +[2026-09-25 04:44:13,057][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 +[2026-09-25 04:44:13,113][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 +[2026-09-25 04:44:13,168][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 +[2026-09-25 04:44:13,223][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 +[2026-09-25 04:44:13,278][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 +[2026-09-25 04:44:13,333][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 +[2026-09-25 04:44:13,333][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) +[2026-09-25 04:44:13,333][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:44:13,333][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 04:44:13,345][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 04:44:13,351][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 04:44:13,357][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 04:44:13,364][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 04:44:13,370][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 04:44:13,376][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 04:44:13,382][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 04:44:13,389][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=-0.0073260073260073, 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)] +[2026-09-25 04:44:13,389][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0024795910582131597, 0.0017166399633783413, -0.0165941863126573, 0.10852979324025291, -0.0036240177004653873] +[2026-09-25 04:44:13,389][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 04:44:13,389][root][INFO] - starting separate thread for control loop +[2026-09-25 04:44:13,489][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=0.02051282051282044, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790282653.4895275), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790282653.4895275), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790282653.4895275), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=35.0, timestamp=1790282653.4895275), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0165941863126573, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790282653.4895275), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.10852979324025291, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790282653.4895275), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0036240177004653873, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790282653.4895275)] +[2026-09-25 04:44:13,489][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 04:44:13,489][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0036 +[2026-09-25 04:44:13,489][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 04:44:14,168][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695 +[2026-09-25 04:44:14,469][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 04:44:15,094][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 04:44:15,395][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032) +[2026-09-25 04:44:15,395][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-25 04:44:15,640][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 +[2026-09-25 04:44:15,640][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 +[2026-09-25 04:44:15,640][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 04:44:15,640][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 04:44:15,640][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 04:44:15,640][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 04:44:15,640][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 04:44:15,640][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 04:44:15,640][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 04:44:15,640][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 04:44:15,640][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 04:44:15,640][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 04:44:15,640][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 04:44:15,640][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 +[2026-09-25 04:44:15,640][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:44:15,641][root][INFO] - initializing, .... +[2026-09-25 04:44:15,651][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 04:44:15,663][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:15,674][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:44:15,685][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 04:44:15,696][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:15,707][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:44:15,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 04:44:15,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:15,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:44:15,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 04:44:15,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:15,775][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:44:15,786][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 04:44:15,797][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:15,808][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:44:15,819][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 04:44:15,830][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:15,841][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:44:15,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 04:44:15,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:44:15,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:44:15,874][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 04:44:15,874][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-25 04:44:15,875][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:44:15,931][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 +[2026-09-25 04:44:15,986][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 +[2026-09-25 04:44:16,042][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 +[2026-09-25 04:44:16,096][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 +[2026-09-25 04:44:16,149][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 +[2026-09-25 04:44:16,203][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 +[2026-09-25 04:44:16,256][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 +[2026-09-25 04:44:16,256][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) +[2026-09-25 04:44:16,257][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:44:16,257][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 04:44:16,267][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 04:44:16,273][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 04:44:16,279][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 04:44:16,285][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 04:44:16,291][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 04:44:16,297][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 04:44:16,303][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 04:44:16,309][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, 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)] +[2026-09-25 04:44:16,309][root][INFO] - current_pos: [0.004768444342717615, -0.0020981155107957505, 0.000953688868543523, 0.0020981155107957505, -0.0455863279163804, 0.05016403448538931, -0.004386968795300206] +[2026-09-25 04:44:16,309][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 04:44:16,309][root][INFO] - starting separate thread for control loop +[2026-09-25 04:44:16,409][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.03418803418803407, pos=0.004386968795300206, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790282656.4095619), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790282656.4095619), 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=1790282656.4095619), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0020981155107957505, voltage=-1, temp_mos=32.0, temp_rotor=35.0, timestamp=1790282656.4095619), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0455863279163804, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790282656.4095619), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.05016403448538931, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790282656.4095619), MotorInfo(id=7, 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=1790282656.4095619)] +[2026-09-25 04:44:16,409][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 04:44:16,409][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-25 04:44:16,409][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 04:44:17,081][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-25 04:44:17,381][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 04:44:18,054][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 04:44:18,355][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011635004196227428) +[2026-09-25 04:44:18,355][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.011635 ] +[2026-09-25 04:44:18,491][root][INFO] - initializing, .... +[2026-09-25 04:44:25,645][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.04 Hz +[2026-09-25 04:44:28,497][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.01 Hz +[2026-09-25 04:44:31,781][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] +[2026-09-25 04:44:31,781][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] +[2026-09-25 04:44:35,645][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.08 Hz +[2026-09-25 04:44:38,497][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.89 Hz +[2026-09-25 04:44:43,391][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.62 iterations per second over 30.00 seconds. +[2026-09-25 04:44:43,391][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003881 s, max step_time: 0.062794 s +[2026-09-25 04:44:45,648][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.94 Hz +[2026-09-25 04:44:46,312][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.41 iterations per second over 30.00 seconds. +[2026-09-25 04:44:46,312][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003930 s, max step_time: 0.064427 s +[2026-09-25 04:44:48,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.44 Hz +[2026-09-25 04:44:55,650][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.35 Hz +[2026-09-25 04:44:58,503][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 +[2026-09-25 04:45:05,650][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.27 Hz +[2026-09-25 04:45:08,505][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.73 Hz +[2026-09-25 04:45:13,395][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.83 iterations per second over 30.00 seconds. +[2026-09-25 04:45:13,395][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003834 s, max step_time: 0.007707 s +[2026-09-25 04:45:15,654][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.11 Hz +[2026-09-25 04:45:16,312][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.33 iterations per second over 30.00 seconds. +[2026-09-25 04:45:18,506][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.28 Hz +[2026-09-25 04:45:25,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.07 Hz +[2026-09-25 04:45:28,509][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.21 Hz +[2026-09-25 04:45:35,658][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.92 Hz +[2026-09-25 04:45:36,832][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003846 s, max step_time: 0.007044 s +[2026-09-25 04:45:38,510][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.88 Hz +[2026-09-25 04:45:43,397][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.58 iterations per second over 30.00 seconds. +[2026-09-25 04:45:43,398][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003882 s, max step_time: 0.008989 s +[2026-09-25 04:45:45,659][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.08 Hz +[2026-09-25 04:45:46,315][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.45 iterations per second over 30.00 seconds. +[2026-09-25 04:45:46,570][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] +[2026-09-25 04:45:46,570][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] +[2026-09-25 04:45:48,513][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.91 Hz +[2026-09-25 04:45:55,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.52 Hz +[2026-09-25 04:45:58,520][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.47 Hz +[2026-09-25 04:46:05,664][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.46 Hz +[2026-09-25 04:46:06,835][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003911 s, max step_time: 0.013870 s +[2026-09-25 04:46:08,524][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.19 Hz +[2026-09-25 04:46:13,401][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.81 iterations per second over 30.00 seconds. +[2026-09-25 04:46:13,401][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003864 s, max step_time: 0.019380 s +[2026-09-25 04:46:15,665][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.17 Hz +[2026-09-25 04:46:16,315][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.83 iterations per second over 30.00 seconds. +[2026-09-25 04:46:18,524][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.46 Hz +[2026-09-25 04:46:25,665][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.89 Hz +[2026-09-25 04:46:28,528][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 +[2026-09-25 04:46:35,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.14 Hz +[2026-09-25 04:46:36,835][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: 0.007146 s +[2026-09-25 04:46:38,531][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.13 Hz +[2026-09-25 04:46:43,404][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.67 iterations per second over 30.00 seconds. +[2026-09-25 04:46:43,404][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003866 s, max step_time: 0.007062 s +[2026-09-25 04:46:45,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.29 Hz +[2026-09-25 04:46:46,318][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.44 iterations per second over 30.00 seconds. +[2026-09-25 04:46:48,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.69 Hz +[2026-09-25 04:46:55,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.58 Hz +[2026-09-25 04:46:58,533][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.28 Hz +[2026-09-25 04:47:00,593][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] +[2026-09-25 04:47:00,593][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] +[2026-09-25 04:47:05,673][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.34 Hz +[2026-09-25 04:47:06,836][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003914 s, max step_time: 0.015986 s +[2026-09-25 04:47:08,537][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.03 Hz +[2026-09-25 04:47:13,405][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.46 iterations per second over 30.00 seconds. +[2026-09-25 04:47:13,405][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003915 s, max step_time: 0.017778 s +[2026-09-25 04:47:15,673][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.65 Hz +[2026-09-25 04:47:16,321][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.20 iterations per second over 30.00 seconds. +[2026-09-25 04:47:18,537][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.47 Hz +[2026-09-25 04:47:25,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.26 Hz +[2026-09-25 04:47:28,536][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.29 Hz +[2026-09-25 04:47:35,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.17 Hz +[2026-09-25 04:47:36,839][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003838 s, max step_time: 0.009881 s +[2026-09-25 04:47:38,540][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.09 Hz +[2026-09-25 04:47:43,407][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.28 iterations per second over 30.00 seconds. +[2026-09-25 04:47:43,407][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003842 s, max step_time: 0.009508 s +[2026-09-25 04:47:45,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.07 Hz +[2026-09-25 04:47:46,323][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.29 iterations per second over 30.00 seconds. +[2026-09-25 04:47:48,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.54 Hz +[2026-09-25 04:47:55,680][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.42 Hz +[2026-09-25 04:47:58,545][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.04 Hz +[2026-09-25 04:48:05,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.02 Hz +[2026-09-25 04:48:06,840][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003859 s, max step_time: 0.010484 s +[2026-09-25 04:48:08,548][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.13 Hz +[2026-09-25 04:48:13,408][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.03 iterations per second over 30.00 seconds. +[2026-09-25 04:48:13,408][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003831 s, max step_time: 0.009213 s +[2026-09-25 04:48:15,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.55 Hz +[2026-09-25 04:48:16,325][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.41 iterations per second over 30.00 seconds. +[2026-09-25 04:48:18,548][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.39 Hz +[2026-09-25 04:48:25,687][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.74 Hz +[2026-09-25 04:48:28,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.48 Hz +[2026-09-25 04:48:35,691][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.10 Hz +[2026-09-25 04:48:36,842][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003839 s, max step_time: 0.011315 s +[2026-09-25 04:48:38,551][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.96 Hz +[2026-09-25 04:48:43,412][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.83 iterations per second over 30.00 seconds. +[2026-09-25 04:48:43,412][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003834 s, max step_time: 0.010378 s +[2026-09-25 04:48:45,692][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.68 Hz +[2026-09-25 04:48:46,328][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.74 iterations per second over 30.00 seconds. +[2026-09-25 04:48:48,551][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 +[2026-09-25 04:48:55,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.37 Hz +[2026-09-25 04:48:58,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.55 Hz +[2026-09-25 04:49:05,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.49 Hz +[2026-09-25 04:49:06,842][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 57 times, mean step_time: 0.003861 s, max step_time: 0.011605 s +[2026-09-25 04:49:08,558][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.57 Hz +[2026-09-25 04:49:13,413][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.02 iterations per second over 30.00 seconds. +[2026-09-25 04:49:13,413][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 58 times, mean step_time: 0.003846 s, max step_time: 0.010551 s +[2026-09-25 04:49:15,695][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 +[2026-09-25 04:49:16,330][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.84 iterations per second over 30.00 seconds. +[2026-09-25 04:49:18,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.82 Hz +[2026-09-25 04:49:25,697][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.34 Hz +[2026-09-25 04:49:28,557][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 +[2026-09-25 04:49:35,701][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.92 Hz +[2026-09-25 04:49:36,844][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 36 times, mean step_time: 0.003874 s, max step_time: 0.020155 s +[2026-09-25 04:49:38,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.48 Hz +[2026-09-25 04:49:43,414][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.69 iterations per second over 30.00 seconds. +[2026-09-25 04:49:43,414][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 40 times, mean step_time: 0.003866 s, max step_time: 0.013729 s +[2026-09-25 04:49:45,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.03 Hz +[2026-09-25 04:49:46,331][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.56 iterations per second over 30.00 seconds. +[2026-09-25 04:49:47,785][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 271.73 iterations per second over 1.45 seconds. +[2026-09-25 04:49:47,791][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 265.27 iterations per second over 4.38 seconds. +[2026-09-25 04:49:49,045][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 04:49:49,046][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 04:49:49,046][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 04:49:49,046][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 04:49:49,046][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 04:49:49,046][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 04:49:49,046][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 04:49:49,046][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 04:49:49,047][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-25 04:49:49,047][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 04:49:49,047][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 04:49:49,047][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 04:49:49,047][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 04:49:49,048][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 04:49:49,048][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 04:49:49,048][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} +[2026-09-25 04:49:49,048][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 +[2026-09-25 04:49:49,048][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 +[2026-09-25 04:49:49,048][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 04:49:49,048][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 04:49:49,048][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 04:49:49,048][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 04:49:49,048][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 04:49:49,048][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 04:49:49,048][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 04:49:49,048][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 04:49:49,048][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 04:49:49,048][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 04:49:49,048][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 04:49:49,048][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 +[2026-09-25 04:49:49,049][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:49:49,061][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 04:49:49,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 04:49:49,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:49:49,094][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 04:49:49,105][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:49,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:49:49,127][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 04:49:49,139][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:49,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:49:49,161][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 04:49:49,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:49,183][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:49:49,194][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 04:49:49,205][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:49,216][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:49:49,227][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 04:49:49,238][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:49,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:49:49,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 04:49:49,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:49,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:49:49,283][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 04:49:49,283][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 +[2026-09-25 04:49:49,283][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:49:49,337][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 +[2026-09-25 04:49:49,391][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 +[2026-09-25 04:49:49,445][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 +[2026-09-25 04:49:49,499][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 +[2026-09-25 04:49:49,552][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 +[2026-09-25 04:49:49,606][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 +[2026-09-25 04:49:49,660][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 +[2026-09-25 04:49:49,660][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) +[2026-09-25 04:49:49,661][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:49:49,661][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 04:49:49,671][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 04:49:49,676][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 04:49:49,683][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 04:49:49,689][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 04:49:49,695][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 04:49:49,701][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 04:49:49,707][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 04:49:49,713][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, 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)] +[2026-09-25 04:49:49,714][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0024795910582131597, 0.0017166399633783413, -0.013160906385900617, 0.16880292973220357, 0.015449759670405072] +[2026-09-25 04:49:49,714][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 04:49:49,714][root][INFO] - starting separate thread for control loop +[2026-09-25 04:49:49,814][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790282989.8145418), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790282989.8145418), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790282989.8145418), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790282989.8145418), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.013160906385900617, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790282989.8145418), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.16880292973220357, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790282989.8145418), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790282989.8145418)] +[2026-09-25 04:49:49,814][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 04:49:49,814][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0154 +[2026-09-25 04:49:49,814][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 04:49:50,439][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-25 04:49:50,739][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 04:49:51,370][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 04:49:51,670][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174643032) +[2026-09-25 04:49:51,670][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00743877] +[2026-09-25 04:49:51,908][root][INFO] - initializing, .... +[2026-09-25 04:49:51,909][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 +[2026-09-25 04:49:51,909][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 +[2026-09-25 04:49:51,909][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 04:49:51,909][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 04:49:51,910][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 04:49:51,910][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 04:49:51,910][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 04:49:51,910][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 04:49:51,910][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 04:49:51,910][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 04:49:51,910][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 04:49:51,910][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 04:49:51,910][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 04:49:51,910][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 +[2026-09-25 04:49:51,911][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:49:51,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 04:49:51,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:51,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:49:51,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 04:49:51,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:51,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:49:51,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 04:49:51,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:52,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:49:52,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 04:49:52,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:52,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:49:52,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 04:49:52,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:52,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:49:52,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 04:49:52,094][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:52,104][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:49:52,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 04:49:52,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:49:52,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:49:52,137][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 04:49:52,137][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 +[2026-09-25 04:49:52,137][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:49:52,190][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 +[2026-09-25 04:49:52,244][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 +[2026-09-25 04:49:52,297][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 +[2026-09-25 04:49:52,351][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 +[2026-09-25 04:49:52,405][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 +[2026-09-25 04:49:52,458][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 +[2026-09-25 04:49:52,512][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 +[2026-09-25 04:49:52,512][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) +[2026-09-25 04:49:52,512][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:49:52,512][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 04:49:52,523][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 04:49:52,528][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 04:49:52,534][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 04:49:52,540][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 04:49:52,546][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 04:49:52,552][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 04:49:52,558][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 04:49:52,564][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, 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=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-25 04:49:52,564][root][INFO] - current_pos: [-0.04520485236896299, 0.0005722133211261138, 0.000953688868543523, 0.000953688868543523, -0.004386968795300206, 0.20695048447394448, -0.000953688868543523] +[2026-09-25 04:49:52,564][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 04:49:52,564][root][INFO] - starting separate thread for control loop +[2026-09-25 04:49:52,665][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.04520485236896299, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790282992.6649954), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790282992.6649954), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790282992.6649954), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790282992.6649954), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.004386968795300206, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790282992.6649954), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.20695048447394448, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790282992.6649954), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790282992.6649954)] +[2026-09-25 04:49:52,665][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 04:49:52,665][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-25 04:49:52,665][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 04:49:53,342][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-25 04:49:53,642][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 04:49:54,269][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 04:49:54,569][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270275425345236, -0.01163500419623098) +[2026-09-25 04:49:54,569][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27027543 -0.011635 ] +[2026-09-25 04:49:54,696][root][INFO] - initializing, .... +[2026-09-25 04:50:01,914][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.05 Hz +[2026-09-25 04:50:04,700][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.02 Hz +[2026-09-25 04:50:11,916][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.25 Hz +[2026-09-25 04:50:14,210][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] +[2026-09-25 04:50:14,211][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] +[2026-09-25 04:50:14,702][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.15 Hz +[2026-09-25 04:50:19,717][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.14 iterations per second over 30.00 seconds. +[2026-09-25 04:50:19,718][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003888 s, max step_time: 0.073599 s +[2026-09-25 04:50:21,919][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.51 Hz +[2026-09-25 04:50:22,567][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.24 iterations per second over 30.00 seconds. +[2026-09-25 04:50:22,567][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003933 s, max step_time: 0.073278 s +[2026-09-25 04:50:24,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.08 Hz +[2026-09-25 04:50:31,922][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.12 Hz +[2026-09-25 04:50:34,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.09 Hz +[2026-09-25 04:50:41,924][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.94 Hz +[2026-09-25 04:50:44,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.88 Hz +[2026-09-25 04:50:49,718][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.63 iterations per second over 30.00 seconds. +[2026-09-25 04:50:49,718][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003822 s, max step_time: 0.007235 s +[2026-09-25 04:50:51,928][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.40 Hz +[2026-09-25 04:50:52,571][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.97 iterations per second over 30.00 seconds. +[2026-09-25 04:50:52,571][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: 0.007023 s +[2026-09-25 04:50:54,705][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.98 Hz +[2026-09-25 04:51:01,932][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 +[2026-09-25 04:51:04,707][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.34 Hz +[2026-09-25 04:51:11,933][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.68 Hz +[2026-09-25 04:51:14,711][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.78 Hz +[2026-09-25 04:51:19,719][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.39 iterations per second over 30.00 seconds. +[2026-09-25 04:51:21,936][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 +[2026-09-25 04:51:22,573][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.18 iterations per second over 30.00 seconds. +[2026-09-25 04:51:22,573][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003873 s, max step_time: 0.007108 s +[2026-09-25 04:51:24,714][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 +[2026-09-25 04:51:31,940][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.61 Hz +[2026-09-25 04:51:34,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.06 Hz +[2026-09-25 04:51:39,360][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003857 s, max step_time: 0.008090 s +[2026-09-25 04:51:41,943][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.92 Hz +[2026-09-25 04:51:44,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.99 Hz +[2026-09-25 04:51:49,722][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.94 iterations per second over 30.00 seconds. +[2026-09-25 04:51:51,945][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.03 Hz +[2026-09-25 04:51:52,575][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.15 iterations per second over 30.00 seconds. +[2026-09-25 04:51:52,575][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003982 s, max step_time: 0.011261 s +[2026-09-25 04:51:54,340][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] +[2026-09-25 04:51:54,340][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] +[2026-09-25 04:51:54,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.39 Hz +[2026-09-25 04:52:01,949][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.83 Hz +[2026-09-25 04:52:04,718][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.15 Hz +[2026-09-25 04:52:09,361][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003967 s, max step_time: 0.023988 s +[2026-09-25 04:52:11,952][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.21 Hz +[2026-09-25 04:52:14,719][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.98 Hz +[2026-09-25 04:52:19,723][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.39 iterations per second over 30.00 seconds. +[2026-09-25 04:52:21,952][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.88 Hz +[2026-09-25 04:52:22,579][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.03 iterations per second over 30.00 seconds. +[2026-09-25 04:52:22,579][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003875 s, max step_time: 0.023785 s +[2026-09-25 04:52:24,720][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.66 Hz +[2026-09-25 04:52:31,956][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.61 Hz +[2026-09-25 04:52:34,721][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.16 Hz +[2026-09-25 04:52:41,910][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: 0.007040 s +[2026-09-25 04:52:41,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.53 Hz +[2026-09-25 04:52:44,725][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.54 Hz +[2026-09-25 04:52:49,724][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.16 iterations per second over 30.00 seconds. +[2026-09-25 04:52:51,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.80 Hz +[2026-09-25 04:52:52,582][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.50 iterations per second over 30.00 seconds. +[2026-09-25 04:52:52,582][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003914 s, max step_time: 0.007704 s +[2026-09-25 04:52:54,717][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] +[2026-09-25 04:52:54,717][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] +[2026-09-25 04:52:54,725][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.58 Hz +[2026-09-25 04:53:01,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.36 Hz +[2026-09-25 04:53:04,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.61 Hz +[2026-09-25 04:53:11,916][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003923 s, max step_time: 0.014742 s +[2026-09-25 04:53:11,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.22 Hz +[2026-09-25 04:53:14,729][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.48 Hz +[2026-09-25 04:53:19,726][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.75 iterations per second over 30.00 seconds. +[2026-09-25 04:53:21,968][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.32 Hz +[2026-09-25 04:53:22,584][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.78 iterations per second over 30.00 seconds. +[2026-09-25 04:53:22,584][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003864 s, max step_time: 0.015662 s +[2026-09-25 04:53:24,731][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 +[2026-09-25 04:53:31,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.42 Hz +[2026-09-25 04:53:34,736][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.07 Hz +[2026-09-25 04:53:41,916][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003846 s, max step_time: 0.010967 s +[2026-09-25 04:53:41,972][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.93 Hz +[2026-09-25 04:53:44,736][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.20 Hz +[2026-09-25 04:53:49,727][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.86 iterations per second over 30.00 seconds. +[2026-09-25 04:53:51,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.43 Hz +[2026-09-25 04:53:52,585][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.09 iterations per second over 30.00 seconds. +[2026-09-25 04:53:52,585][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 57 times, mean step_time: 0.003860 s, max step_time: 0.009108 s +[2026-09-25 04:53:54,737][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.86 Hz +[2026-09-25 04:54:01,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.15 Hz +[2026-09-25 04:54:04,740][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.43 Hz +[2026-09-25 04:54:11,918][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 63 times, mean step_time: 0.003867 s, max step_time: 0.012884 s +[2026-09-25 04:54:11,981][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.70 Hz +[2026-09-25 04:54:14,742][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.75 Hz +[2026-09-25 04:54:19,727][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.53 iterations per second over 30.00 seconds. +[2026-09-25 04:54:21,982][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 +[2026-09-25 04:54:22,587][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.28 iterations per second over 30.00 seconds. +[2026-09-25 04:54:22,587][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 59 times, mean step_time: 0.003887 s, max step_time: 0.011303 s +[2026-09-25 04:54:24,744][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.83 Hz +[2026-09-25 04:54:31,985][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.62 Hz +[2026-09-25 04:54:34,745][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 +[2026-09-25 04:54:41,921][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003829 s, max step_time: 0.009493 s +[2026-09-25 04:54:41,988][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.52 Hz +[2026-09-25 04:54:44,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.03 Hz +[2026-09-25 04:54:49,729][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.08 iterations per second over 30.00 seconds. +[2026-09-25 04:54:51,989][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.49 Hz +[2026-09-25 04:54:52,591][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.20 iterations per second over 30.00 seconds. +[2026-09-25 04:54:52,591][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003828 s, max step_time: 0.011504 s +[2026-09-25 04:54:54,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.20 Hz +[2026-09-25 04:55:01,988][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 +[2026-09-25 04:55:04,751][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 +[2026-09-25 04:55:11,923][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 41 times, mean step_time: 0.003833 s, max step_time: 0.009048 s +[2026-09-25 04:55:11,991][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.62 Hz +[2026-09-25 04:55:14,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.55 Hz +[2026-09-25 04:55:19,731][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.12 iterations per second over 30.00 seconds. +[2026-09-25 04:55:21,995][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 +[2026-09-25 04:55:22,591][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.66 iterations per second over 30.00 seconds. +[2026-09-25 04:55:22,591][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 38 times, mean step_time: 0.003822 s, max step_time: 0.009790 s +[2026-09-25 04:55:24,754][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.36 Hz +[2026-09-25 04:55:31,997][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.03 Hz +[2026-09-25 04:55:34,754][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 +[2026-09-25 04:55:41,923][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003820 s, max step_time: 0.012499 s +[2026-09-25 04:55:41,999][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.77 Hz +[2026-09-25 04:55:44,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.37 Hz +[2026-09-25 04:55:49,733][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.98 iterations per second over 30.00 seconds. +[2026-09-25 04:55:51,087][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.56 iterations per second over 28.50 seconds. +[2026-09-25 04:55:51,096][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 266.89 iterations per second over 1.36 seconds. +[2026-09-25 04:55:52,415][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 04:55:52,417][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 04:55:52,417][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 04:55:52,417][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 04:55:52,417][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 04:55:52,417][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 04:55:52,417][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 04:55:52,417][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 04:55:52,417][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-25 04:55:52,418][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 04:55:52,418][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 04:55:52,418][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 04:55:52,418][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 04:55:52,418][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 04:55:52,418][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 04:55:52,418][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} +[2026-09-25 04:55:52,419][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 +[2026-09-25 04:55:52,419][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 +[2026-09-25 04:55:52,419][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 04:55:52,419][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 04:55:52,419][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 04:55:52,419][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 04:55:52,419][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 04:55:52,419][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 04:55:52,419][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 04:55:52,419][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 04:55:52,419][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 04:55:52,419][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 04:55:52,419][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 04:55:52,419][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 +[2026-09-25 04:55:52,420][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:55:52,432][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 04:55:52,443][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 04:55:52,454][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:55:52,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 04:55:52,477][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:52,488][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:55:52,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 04:55:52,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:52,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:55:52,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 04:55:52,543][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:52,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:55:52,565][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 04:55:52,576][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:52,587][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:55:52,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 04:55:52,608][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:52,619][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:55:52,630][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 04:55:52,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:52,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:55:52,652][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 04:55:52,652][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 +[2026-09-25 04:55:52,652][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:55:52,706][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 +[2026-09-25 04:55:52,760][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 +[2026-09-25 04:55:52,815][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 +[2026-09-25 04:55:52,869][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 +[2026-09-25 04:55:52,923][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 +[2026-09-25 04:55:52,977][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 +[2026-09-25 04:55:53,031][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 +[2026-09-25 04:55:53,031][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) +[2026-09-25 04:55:53,031][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:55:53,031][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 04:55:53,042][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 04:55:53,047][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 04:55:53,053][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 04:55:53,059][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 04:55:53,065][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 04:55:53,071][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 04:55:53,077][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 04:55:53,083][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=0.012210012210012167, 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), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-25 04:55:53,084][root][INFO] - current_pos: [-0.010872053101396162, -0.0005722133211261138, 0.0017166399633783413, 0.005149919890135024, -0.04367895017929335, 0.018120088502326936, 0.01583123521782248] +[2026-09-25 04:55:53,084][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 04:55:53,084][root][INFO] - starting separate thread for control loop +[2026-09-25 04:55:53,184][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.010490577553982305, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790283353.1843772), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.04786324786324769, pos=-0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790283353.1843772), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1790283353.1843772), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.005149919890135024, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790283353.1843772), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.04367895017929335, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790283353.1843772), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.0073260073260073, pos=0.018120088502326936, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790283353.1843772), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790283353.1843772)] +[2026-09-25 04:55:53,184][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 04:55:53,184][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-25 04:55:53,184][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 04:55:53,864][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-25 04:55:54,164][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 04:55:54,794][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 04:55:55,095][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174639479) +[2026-09-25 04:55:55,095][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-25 04:55:55,334][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 +[2026-09-25 04:55:55,334][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 +[2026-09-25 04:55:55,334][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 04:55:55,334][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 04:55:55,334][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 04:55:55,334][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 04:55:55,334][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 04:55:55,334][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 04:55:55,334][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 04:55:55,334][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 04:55:55,334][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 04:55:55,334][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 04:55:55,334][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 04:55:55,334][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 +[2026-09-25 04:55:55,334][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:55:55,336][root][INFO] - initializing, .... +[2026-09-25 04:55:55,345][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 04:55:55,356][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:55,367][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:55:55,378][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 04:55:55,388][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:55,399][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:55:55,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 04:55:55,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:55,431][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 04:55:55,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 04:55:55,453][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:55,463][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:55:55,474][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 04:55:55,485][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:55,496][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:55:55,506][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 04:55:55,517][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:55,528][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:55:55,538][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 04:55:55,549][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 04:55:55,560][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 04:55:55,560][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 04:55:55,560][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 +[2026-09-25 04:55:55,560][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:55:55,614][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 +[2026-09-25 04:55:55,667][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 +[2026-09-25 04:55:55,721][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 +[2026-09-25 04:55:55,774][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 +[2026-09-25 04:55:55,828][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 +[2026-09-25 04:55:55,881][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 +[2026-09-25 04:55:55,935][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 +[2026-09-25 04:55:55,935][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) +[2026-09-25 04:55:55,935][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 04:55:55,935][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 04:55:55,946][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 04:55:55,951][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 04:55:55,956][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 04:55:55,963][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 04:55:55,969][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 04:55:55,975][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 04:55:55,981][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 04:55:55,987][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=-0.0073260073260073, 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)] +[2026-09-25 04:55:55,987][root][INFO] - current_pos: [0.01201647974364839, 0.0005722133211261138, 0.0005722133211261138, 0.000953688868543523, -0.0040054932478827965, 0.07534142061493831, -0.000953688868543523] +[2026-09-25 04:55:55,988][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 04:55:55,988][root][INFO] - starting separate thread for control loop +[2026-09-25 04:55:56,088][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=0.01201647974364839, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790283356.0883617), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790283356.0883617), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790283356.0883617), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790283356.0883617), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0040054932478827965, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790283356.0883617), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.07534142061493831, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790283356.0883617), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790283356.0883617)] +[2026-09-25 04:55:56,088][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 04:55:56,088][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-25 04:55:56,088][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 04:55:56,769][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554 +[2026-09-25 04:55:57,070][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 04:55:57,691][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 04:55:57,991][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.264553292133975, -0.01163500419623098) +[2026-09-25 04:55:57,991][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26455329 -0.011635 ] +[2026-09-25 04:55:58,116][root][INFO] - initializing, .... +[2026-09-25 04:56:05,339][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.42 Hz +[2026-09-25 04:56:08,121][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 +[2026-09-25 04:56:15,339][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.38 Hz +[2026-09-25 04:56:18,123][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.05 Hz +[2026-09-25 04:56:23,087][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 264.50 iterations per second over 30.00 seconds. +[2026-09-25 04:56:23,088][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003780 s, max step_time: 0.075811 s +[2026-09-25 04:56:25,340][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.76 Hz +[2026-09-25 04:56:25,988][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.39 iterations per second over 30.00 seconds. +[2026-09-25 04:56:25,989][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003840 s, max step_time: 0.074748 s +[2026-09-25 04:56:28,124][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.95 Hz +[2026-09-25 04:56:35,342][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.37 Hz +[2026-09-25 04:56:38,128][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.61 Hz +[2026-09-25 04:56:40,583][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] +[2026-09-25 04:56:40,583][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] +[2026-09-25 04:56:45,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.37 Hz +[2026-09-25 04:56:48,130][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.75 Hz +[2026-09-25 04:56:53,090][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.68 iterations per second over 30.00 seconds. +[2026-09-25 04:56:53,090][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003927 s, max step_time: 0.014938 s +[2026-09-25 04:56:55,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.91 Hz +[2026-09-25 04:56:55,990][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.99 iterations per second over 30.00 seconds. +[2026-09-25 04:56:55,990][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003937 s, max step_time: 0.020968 s +[2026-09-25 04:56:58,131][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.88 Hz +[2026-09-25 04:57:05,346][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.70 Hz +[2026-09-25 04:57:08,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.53 Hz +[2026-09-25 04:57:15,348][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.69 Hz +[2026-09-25 04:57:18,137][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.41 Hz +[2026-09-25 04:57:23,091][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.52 iterations per second over 30.00 seconds. +[2026-09-25 04:57:23,091][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003853 s, max step_time: 0.007153 s +[2026-09-25 04:57:25,349][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.77 Hz +[2026-09-25 04:57:25,991][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.00 iterations per second over 30.00 seconds. +[2026-09-25 04:57:28,138][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.78 Hz +[2026-09-25 04:57:35,349][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.69 Hz +[2026-09-25 04:57:38,139][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 +[2026-09-25 04:57:40,490][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003838 s, max step_time: 0.007036 s +[2026-09-25 04:57:45,350][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.05 Hz +[2026-09-25 04:57:48,142][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 +[2026-09-25 04:57:53,094][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.44 iterations per second over 30.00 seconds. +[2026-09-25 04:57:53,094][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003840 s, max step_time: 0.007544 s +[2026-09-25 04:57:55,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.58 Hz +[2026-09-25 04:57:55,993][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.38 iterations per second over 30.00 seconds. +[2026-09-25 04:57:58,142][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 +[2026-09-25 04:58:05,354][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 +[2026-09-25 04:58:08,142][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 +[2026-09-25 04:58:10,492][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003871 s, max step_time: 0.007983 s +[2026-09-25 04:58:15,355][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.67 Hz +[2026-09-25 04:58:18,146][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.02 Hz +[2026-09-25 04:58:23,097][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.90 iterations per second over 30.00 seconds. +[2026-09-25 04:58:23,098][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003923 s, max step_time: 0.009780 s +[2026-09-25 04:58:25,353][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] +[2026-09-25 04:58:25,353][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] +[2026-09-25 04:58:25,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.13 Hz +[2026-09-25 04:58:25,995][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.48 iterations per second over 30.00 seconds. +[2026-09-25 04:58:28,147][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.87 Hz +[2026-09-25 04:58:35,361][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.11 Hz +[2026-09-25 04:58:38,149][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.66 Hz +[2026-09-25 04:58:40,495][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003953 s, max step_time: 0.023133 s +[2026-09-25 04:58:45,364][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 +[2026-09-25 04:58:48,150][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.37 Hz +[2026-09-25 04:58:53,100][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.21 iterations per second over 30.00 seconds. +[2026-09-25 04:58:53,101][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003858 s, max step_time: 0.014232 s +[2026-09-25 04:58:55,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.29 Hz +[2026-09-25 04:58:55,998][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.41 iterations per second over 30.00 seconds. +[2026-09-25 04:58:58,154][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.23 Hz +[2026-09-25 04:59:05,368][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.62 Hz +[2026-09-25 04:59:08,157][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.21 Hz +[2026-09-25 04:59:08,192][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] +[2026-09-25 04:59:08,192][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] +[2026-09-25 04:59:10,496][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003917 s, max step_time: 0.020522 s +[2026-09-25 04:59:15,369][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.87 Hz +[2026-09-25 04:59:18,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.59 Hz +[2026-09-25 04:59:23,101][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.50 iterations per second over 30.00 seconds. +[2026-09-25 04:59:23,101][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003899 s, max step_time: 0.017801 s +[2026-09-25 04:59:25,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.91 Hz +[2026-09-25 04:59:25,999][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.53 iterations per second over 30.00 seconds. +[2026-09-25 04:59:28,163][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.68 Hz +[2026-09-25 04:59:35,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.18 Hz +[2026-09-25 04:59:38,164][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.52 Hz +[2026-09-25 04:59:40,496][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003874 s, max step_time: 0.009835 s +[2026-09-25 04:59:45,375][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.84 Hz +[2026-09-25 04:59:48,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.64 Hz +[2026-09-25 04:59:53,101][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.87 iterations per second over 30.00 seconds. +[2026-09-25 04:59:53,101][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003863 s, max step_time: 0.009527 s +[2026-09-25 04:59:55,378][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.33 Hz +[2026-09-25 04:59:56,001][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.82 iterations per second over 30.00 seconds. +[2026-09-25 04:59:58,167][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.09 Hz +[2026-09-25 05:00:05,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.81 Hz +[2026-09-25 05:00:08,168][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.68 Hz +[2026-09-25 05:00:10,497][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003846 s, max step_time: 0.009058 s +[2026-09-25 05:00:15,383][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 +[2026-09-25 05:00:18,170][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.35 Hz +[2026-09-25 05:00:23,103][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.48 iterations per second over 30.00 seconds. +[2026-09-25 05:00:23,103][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003839 s, max step_time: 0.009255 s +[2026-09-25 05:00:25,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.49 Hz +[2026-09-25 05:00:26,003][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.78 iterations per second over 30.00 seconds. +[2026-09-25 05:00:28,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.01 Hz +[2026-09-25 05:00:35,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.42 Hz +[2026-09-25 05:00:38,176][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.53 Hz +[2026-09-25 05:00:40,498][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003844 s, max step_time: 0.013600 s +[2026-09-25 05:00:45,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.56 Hz +[2026-09-25 05:00:48,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.11 Hz +[2026-09-25 05:00:53,104][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.73 iterations per second over 30.00 seconds. +[2026-09-25 05:00:53,104][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003850 s, max step_time: 0.015045 s +[2026-09-25 05:00:55,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.18 Hz +[2026-09-25 05:00:56,006][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.78 iterations per second over 30.00 seconds. +[2026-09-25 05:00:58,182][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.93 Hz +[2026-09-25 05:01:05,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.62 Hz +[2026-09-25 05:01:08,184][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.43 Hz +[2026-09-25 05:01:10,498][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003854 s, max step_time: 0.012037 s +[2026-09-25 05:01:15,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.44 Hz +[2026-09-25 05:01:18,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.03 Hz +[2026-09-25 05:01:23,107][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.21 iterations per second over 30.00 seconds. +[2026-09-25 05:01:23,107][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003828 s, max step_time: 0.009840 s +[2026-09-25 05:01:25,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.19 Hz +[2026-09-25 05:01:26,008][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.68 iterations per second over 30.00 seconds. +[2026-09-25 05:01:28,190][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.62 Hz +[2026-09-25 05:01:35,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.75 Hz +[2026-09-25 05:01:38,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.21 Hz +[2026-09-25 05:01:40,499][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003865 s, max step_time: 0.011418 s +[2026-09-25 05:01:45,402][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.66 Hz +[2026-09-25 05:01:48,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.52 Hz +[2026-09-25 05:01:53,111][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.97 iterations per second over 30.00 seconds. +[2026-09-25 05:01:53,111][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 60 times, mean step_time: 0.003876 s, max step_time: 0.011887 s +[2026-09-25 05:01:55,404][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 +[2026-09-25 05:01:56,010][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.52 iterations per second over 30.00 seconds. +[2026-09-25 05:01:56,426][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.03 iterations per second over 0.42 seconds. +[2026-09-25 05:01:56,433][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.66 iterations per second over 3.32 seconds. +[2026-09-25 05:01:57,698][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 05:01:57,699][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 05:01:57,699][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 05:01:57,700][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 05:01:57,700][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 05:01:57,700][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 05:01:57,700][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 05:01:57,700][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 05:01:57,700][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-25 05:01:57,701][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 05:01:57,701][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 05:01:57,701][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 05:01:57,701][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 05:01:57,701][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 05:01:57,701][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 05:01:57,701][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-25 05:01:57,701][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 +[2026-09-25 05:01:57,701][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 +[2026-09-25 05:01:57,702][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 05:01:57,702][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 05:01:57,702][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 05:01:57,702][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 05:01:57,702][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 05:01:57,702][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 05:01:57,702][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 05:01:57,702][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 05:01:57,702][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 05:01:57,702][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 05:01:57,702][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 05:01:57,702][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-25 05:01:57,703][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:01:57,714][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 05:01:57,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 05:01:57,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:01:57,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 05:01:57,759][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:01:57,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:01:57,781][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 05:01:57,792][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:01:57,803][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:01:57,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 05:01:57,825][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:01:57,836][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:01:57,847][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 05:01:57,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:01:57,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:01:57,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 05:01:57,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:01:57,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:01:57,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 05:01:57,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:01:57,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:01:57,935][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 05:01:57,935][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-25 05:01:57,935][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:01:57,991][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 +[2026-09-25 05:01:58,046][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 +[2026-09-25 05:01:58,101][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 +[2026-09-25 05:01:58,156][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 +[2026-09-25 05:01:58,211][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 +[2026-09-25 05:01:58,266][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 +[2026-09-25 05:01:58,321][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 +[2026-09-25 05:01:58,321][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) +[2026-09-25 05:01:58,321][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:01:58,322][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 05:01:58,333][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 05:01:58,339][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 05:01:58,345][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 05:01:58,351][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 05:01:58,357][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 05:01:58,363][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 05:01:58,370][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 05:01:58,376][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=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-25 05:01:58,376][root][INFO] - current_pos: [0.0013351644159609322, -0.000953688868543523, 0.0017166399633783413, 0.004768444342717615, -0.028419928282596985, 0.056649118791485265, 0.015449759670405072] +[2026-09-25 05:01:58,376][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 05:01:58,376][root][INFO] - starting separate thread for control loop +[2026-09-25 05:01:58,477][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790283718.477413), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790283718.477413), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790283718.477413), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.004768444342717615, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790283718.477413), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=-0.028419928282596985, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790283718.477413), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.056267643244067855, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790283718.477413), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.01583123521782248, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790283718.477413)] +[2026-09-25 05:01:58,477][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 05:01:58,477][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-25 05:01:58,477][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 05:01:59,155][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695 +[2026-09-25 05:01:59,455][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 05:02:00,082][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 05:02:00,382][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174639479) +[2026-09-25 05:02:00,382][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-25 05:02:00,630][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 +[2026-09-25 05:02:00,630][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 +[2026-09-25 05:02:00,630][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 05:02:00,630][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 05:02:00,630][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 05:02:00,630][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 05:02:00,630][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 05:02:00,630][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 05:02:00,630][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 05:02:00,630][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 05:02:00,630][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 05:02:00,630][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 05:02:00,630][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 05:02:00,630][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 +[2026-09-25 05:02:00,631][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:02:00,631][root][INFO] - initializing, .... +[2026-09-25 05:02:00,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 05:02:00,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:02:00,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:02:00,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 05:02:00,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:02:00,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:02:00,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 05:02:00,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:02:00,731][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:02:00,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 05:02:00,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:02:00,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:02:00,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 05:02:00,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:02:00,795][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:02:00,806][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 05:02:00,817][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:02:00,827][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:02:00,838][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 05:02:00,849][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:02:00,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:02:00,860][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 05:02:00,860][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-25 05:02:00,860][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:02:00,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-25 05:02:00,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-25 05:02:01,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-25 05:02:01,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-25 05:02:01,128][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 +[2026-09-25 05:02:01,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-25 05:02:01,235][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-25 05:02:01,235][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-25 05:02:01,235][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:02:01,235][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 05:02:01,246][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 05:02:01,251][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 05:02:01,257][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 05:02:01,263][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 05:02:01,269][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 05:02:01,275][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 05:02:01,281][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 05:02:01,287][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, 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=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-25 05:02:01,287][root][INFO] - current_pos: [-0.0497825589379719, -0.0020981155107957505, 0.000953688868543523, 0.01163500419623098, 0.10013733119706991, -0.02651255054550994, 0.7822156099794011] +[2026-09-25 05:02:01,287][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 05:02:01,287][root][INFO] - starting separate thread for control loop +[2026-09-25 05:02:01,387][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.02051282051282044, pos=-0.0497825589379719, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790283721.3877592), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.07521367521367495, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790283721.3877592), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790283721.3877592), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.01201647974364839, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1790283721.3877592), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.10013733119706991, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790283721.3877592), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.02651255054550994, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790283721.3877592), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.7822156099794011, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790283721.3877592)] +[2026-09-25 05:02:01,388][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 05:02:01,388][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.7822 +[2026-09-25 05:02:01,388][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 05:02:02,012][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554 +[2026-09-25 05:02:02,312][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 05:02:02,940][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 05:02:03,240][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.01163500419623098) +[2026-09-25 05:02:03,240][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.011635 ] +[2026-09-25 05:02:03,368][root][INFO] - initializing, .... +[2026-09-25 05:02:10,635][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.90 Hz +[2026-09-25 05:02:13,372][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 +[2026-09-25 05:02:20,635][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.62 Hz +[2026-09-25 05:02:23,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.30 Hz +[2026-09-25 05:02:28,377][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.23 iterations per second over 30.00 seconds. +[2026-09-25 05:02:28,377][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003813 s, max step_time: 0.076818 s +[2026-09-25 05:02:30,637][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.96 Hz +[2026-09-25 05:02:31,290][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.71 iterations per second over 30.00 seconds. +[2026-09-25 05:02:31,291][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003880 s, max step_time: 0.078214 s +[2026-09-25 05:02:33,375][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.15 Hz +[2026-09-25 05:02:34,490][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-25 05:02:34,490][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-25 05:02:40,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.83 Hz +[2026-09-25 05:02:43,376][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.36 Hz +[2026-09-25 05:02:50,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.10 Hz +[2026-09-25 05:02:53,380][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.90 Hz +[2026-09-25 05:02:58,378][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.79 iterations per second over 30.00 seconds. +[2026-09-25 05:02:58,378][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003864 s, max step_time: 0.018276 s +[2026-09-25 05:03:00,641][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.95 Hz +[2026-09-25 05:03:01,291][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.09 iterations per second over 30.00 seconds. +[2026-09-25 05:03:01,291][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003845 s, max step_time: 0.019877 s +[2026-09-25 05:03:03,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.44 Hz +[2026-09-25 05:03:10,646][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.59 Hz +[2026-09-25 05:03:13,385][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.53 Hz +[2026-09-25 05:03:20,650][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.10 Hz +[2026-09-25 05:03:23,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.37 Hz +[2026-09-25 05:03:28,379][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.39 iterations per second over 30.00 seconds. +[2026-09-25 05:03:29,040][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003812 s, max step_time: 0.007032 s +[2026-09-25 05:03:30,650][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.28 Hz +[2026-09-25 05:03:31,292][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.26 iterations per second over 30.00 seconds. +[2026-09-25 05:03:33,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.83 Hz +[2026-09-25 05:03:40,651][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 +[2026-09-25 05:03:43,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.73 Hz +[2026-09-25 05:03:43,414][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003844 s, max step_time: 0.007315 s +[2026-09-25 05:03:50,656][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.61 Hz +[2026-09-25 05:03:53,393][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.18 Hz +[2026-09-25 05:03:58,379][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.69 iterations per second over 30.00 seconds. +[2026-09-25 05:03:59,044][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003963 s, max step_time: 0.009503 s +[2026-09-25 05:03:59,140][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-25 05:03:59,140][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-25 05:04:00,659][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.22 Hz +[2026-09-25 05:04:01,293][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.96 iterations per second over 30.00 seconds. +[2026-09-25 05:04:03,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.55 Hz +[2026-09-25 05:04:10,661][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.84 Hz +[2026-09-25 05:04:13,396][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.15 Hz +[2026-09-25 05:04:13,416][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003977 s, max step_time: 0.029121 s +[2026-09-25 05:04:20,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.68 Hz +[2026-09-25 05:04:23,400][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.21 Hz +[2026-09-25 05:04:28,382][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.98 iterations per second over 30.00 seconds. +[2026-09-25 05:04:29,048][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003841 s, max step_time: 0.029803 s +[2026-09-25 05:04:30,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.29 Hz +[2026-09-25 05:04:31,294][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.19 iterations per second over 30.00 seconds. +[2026-09-25 05:04:33,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.57 Hz +[2026-09-25 05:04:40,664][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.16 Hz +[2026-09-25 05:04:43,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.03 Hz +[2026-09-25 05:04:50,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.92 Hz +[2026-09-25 05:04:52,223][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003846 s, max step_time: 0.007480 s +[2026-09-25 05:04:53,407][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.31 Hz +[2026-09-25 05:04:58,385][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.67 iterations per second over 30.00 seconds. +[2026-09-25 05:05:00,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.65 Hz +[2026-09-25 05:05:01,298][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.07 iterations per second over 30.00 seconds. +[2026-09-25 05:05:03,412][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.92 Hz +[2026-09-25 05:05:10,671][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.16 Hz +[2026-09-25 05:05:13,413][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.32 Hz +[2026-09-25 05:05:20,673][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.54 Hz +[2026-09-25 05:05:23,416][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.31 Hz +[2026-09-25 05:05:28,386][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.66 iterations per second over 30.00 seconds. +[2026-09-25 05:05:30,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.76 Hz +[2026-09-25 05:05:31,300][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.01 iterations per second over 30.00 seconds. +[2026-09-25 05:05:33,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.11 Hz +[2026-09-25 05:05:34,144][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003831 s, max step_time: 0.007246 s +[2026-09-25 05:05:34,145][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003830 s, max step_time: 0.007169 s +[2026-09-25 05:05:40,676][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.74 Hz +[2026-09-25 05:05:43,423][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.63 Hz +[2026-09-25 05:05:50,680][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.11 Hz +[2026-09-25 05:05:53,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.78 Hz +[2026-09-25 05:05:58,386][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.47 iterations per second over 30.00 seconds. +[2026-09-25 05:06:00,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.76 Hz +[2026-09-25 05:06:01,302][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.05 iterations per second over 30.00 seconds. +[2026-09-25 05:06:03,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.89 Hz +[2026-09-25 05:06:04,145][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003824 s, max step_time: 0.009686 s +[2026-09-25 05:06:04,145][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 38 times, mean step_time: 0.003833 s, max step_time: 0.010426 s +[2026-09-25 05:06:10,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.72 Hz +[2026-09-25 05:06:13,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.02 Hz +[2026-09-25 05:06:20,687][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.04 Hz +[2026-09-25 05:06:23,428][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.56 Hz +[2026-09-25 05:06:28,387][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.66 iterations per second over 30.00 seconds. +[2026-09-25 05:06:30,690][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.02 Hz +[2026-09-25 05:06:31,305][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.87 iterations per second over 30.00 seconds. +[2026-09-25 05:06:31,648][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 271.15 iterations per second over 0.34 seconds. +[2026-09-25 05:06:31,655][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.51 iterations per second over 3.27 seconds. +[2026-09-25 05:06:32,785][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 05:06:32,787][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 05:06:32,787][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 05:06:32,787][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 05:06:32,787][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 05:06:32,787][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 05:06:32,787][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 05:06:32,787][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 05:06:32,787][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-25 05:06:32,788][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 05:06:32,788][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 05:06:32,788][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 05:06:32,788][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 05:06:32,788][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 05:06:32,788][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 05:06:32,788][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} +[2026-09-25 05:06:32,789][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 +[2026-09-25 05:06:32,789][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 +[2026-09-25 05:06:32,789][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 05:06:32,789][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 05:06:32,789][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 05:06:32,789][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 05:06:32,789][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 05:06:32,789][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 05:06:32,789][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 05:06:32,789][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 05:06:32,789][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 05:06:32,789][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 05:06:32,789][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 05:06:32,789][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 +[2026-09-25 05:06:32,790][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:06:32,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 05:06:32,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 05:06:32,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:06:32,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 05:06:32,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:32,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:06:32,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 05:06:32,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:32,890][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:06:32,901][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 05:06:32,912][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:32,923][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:06:32,934][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 05:06:32,945][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:32,956][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:06:32,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 05:06:32,978][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:32,989][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:06:33,000][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 05:06:33,011][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:33,022][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:06:33,022][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 05:06:33,022][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 +[2026-09-25 05:06:33,022][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:06:33,076][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 +[2026-09-25 05:06:33,130][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 +[2026-09-25 05:06:33,185][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 +[2026-09-25 05:06:33,238][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 +[2026-09-25 05:06:33,292][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-25 05:06:33,346][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 +[2026-09-25 05:06:33,400][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 +[2026-09-25 05:06:33,400][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) +[2026-09-25 05:06:33,400][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:06:33,400][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 05:06:33,411][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 05:06:33,416][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 05:06:33,423][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 05:06:33,429][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 05:06:33,435][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 05:06:33,441][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 05:06:33,447][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 05:06:33,453][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=0.012210012210012167, 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)] +[2026-09-25 05:06:33,453][root][INFO] - current_pos: [0.0013351644159609322, -0.000953688868543523, 0.0024795910582131597, 0.0020981155107957505, -0.0165941863126573, 0.09288929579613914, 0.015449759670405072] +[2026-09-25 05:06:33,453][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 05:06:33,453][root][INFO] - starting separate thread for control loop +[2026-09-25 05:06:33,554][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790283993.5543458), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790283993.5543458), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790283993.5543458), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1790283993.5543458), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0165941863126573, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790283993.5543458), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.09288929579613914, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790283993.5543458), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.015449759670405072, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790283993.5543458)] +[2026-09-25 05:06:33,554][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 05:06:33,554][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0154 +[2026-09-25 05:06:33,554][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 05:06:34,180][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695 +[2026-09-25 05:06:34,481][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 05:06:35,113][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 05:06:35,413][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032) +[2026-09-25 05:06:35,414][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-25 05:06:35,656][root][INFO] - initializing, .... +[2026-09-25 05:06:35,656][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 +[2026-09-25 05:06:35,656][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 +[2026-09-25 05:06:35,657][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 05:06:35,657][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 05:06:35,657][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 05:06:35,657][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 05:06:35,657][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 05:06:35,657][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 05:06:35,657][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 05:06:35,657][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 05:06:35,657][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 05:06:35,657][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 05:06:35,657][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 05:06:35,657][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 +[2026-09-25 05:06:35,657][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:06:35,668][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 05:06:35,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:35,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:06:35,701][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 05:06:35,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:35,724][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:06:35,734][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 05:06:35,745][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:35,756][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:06:35,767][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 05:06:35,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:35,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:06:35,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 05:06:35,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:35,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:06:35,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 05:06:35,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:35,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:06:35,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 05:06:35,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:06:35,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:06:35,885][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 05:06:35,885][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 +[2026-09-25 05:06:35,885][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:06:35,939][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 +[2026-09-25 05:06:35,992][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 +[2026-09-25 05:06:36,046][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 +[2026-09-25 05:06:36,099][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 +[2026-09-25 05:06:36,153][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 +[2026-09-25 05:06:36,207][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 +[2026-09-25 05:06:36,260][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 +[2026-09-25 05:06:36,260][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) +[2026-09-25 05:06:36,261][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:06:36,261][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 05:06:36,271][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 05:06:36,276][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 05:06:36,282][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 05:06:36,288][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 05:06:36,294][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 05:06:36,300][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 05:06:36,306][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 05:06:36,312][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, 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)] +[2026-09-25 05:06:36,312][root][INFO] - current_pos: [-0.013542381933318026, 0.0005722133211261138, 0.000953688868543523, 0.003242542153047978, -0.0455863279163804, -0.08144502937361686, 0.04062714579995408] +[2026-09-25 05:06:36,312][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 05:06:36,312][root][INFO] - starting separate thread for control loop +[2026-09-25 05:06:36,412][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.013160906385897064, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790283996.4125159), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.07521367521367495, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790283996.4125159), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790283996.4125159), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.003242542153047978, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790283996.4125159), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0455863279163804, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790283996.4125159), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.08144502937361686, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790283996.4125159), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.04062714579995408, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790283996.4125159)] +[2026-09-25 05:06:36,412][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 05:06:36,412][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0406 +[2026-09-25 05:06:36,412][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 05:06:37,092][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-25 05:06:37,392][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 05:06:38,025][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-25 05:06:38,325][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.01163500419623098) +[2026-09-25 05:06:38,325][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.011635 ] +[2026-09-25 05:06:38,451][root][INFO] - initializing, .... +[2026-09-25 05:06:45,659][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.39 Hz +[2026-09-25 05:06:48,456][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.04 Hz +[2026-09-25 05:06:55,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.20 Hz +[2026-09-25 05:06:57,960][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] +[2026-09-25 05:06:57,961][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] +[2026-09-25 05:06:58,458][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.04 Hz +[2026-09-25 05:07:03,455][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.62 iterations per second over 30.00 seconds. +[2026-09-25 05:07:03,456][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003896 s, max step_time: 0.077024 s +[2026-09-25 05:07:05,665][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.35 Hz +[2026-09-25 05:07:06,315][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.71 iterations per second over 30.00 seconds. +[2026-09-25 05:07:06,315][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003941 s, max step_time: 0.077596 s +[2026-09-25 05:07:08,459][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.16 Hz +[2026-09-25 05:07:15,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.48 Hz +[2026-09-25 05:07:18,463][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.12 Hz +[2026-09-25 05:07:25,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.39 Hz +[2026-09-25 05:07:28,463][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.78 Hz +[2026-09-25 05:07:33,459][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.14 iterations per second over 30.00 seconds. +[2026-09-25 05:07:33,459][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: 0.007771 s +[2026-09-25 05:07:35,670][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.11 Hz +[2026-09-25 05:07:36,318][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.78 iterations per second over 30.00 seconds. +[2026-09-25 05:07:36,318][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: 0.007072 s +[2026-09-25 05:07:38,466][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.11 Hz +[2026-09-25 05:07:45,671][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.54 Hz +[2026-09-25 05:07:48,469][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.44 Hz +[2026-09-25 05:07:55,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.93 Hz +[2026-09-25 05:07:58,470][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.67 Hz +[2026-09-25 05:08:03,460][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.42 iterations per second over 30.00 seconds. +[2026-09-25 05:08:03,460][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: 0.007263 s +[2026-09-25 05:08:05,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.97 Hz +[2026-09-25 05:08:06,320][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.08 iterations per second over 30.00 seconds. +[2026-09-25 05:08:06,320][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003845 s, max step_time: 0.007348 s +[2026-09-25 05:08:08,472][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.45 Hz +[2026-09-25 05:08:15,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.84 Hz +[2026-09-25 05:08:18,473][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.30 Hz +[2026-09-25 05:08:19,251][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] +[2026-09-25 05:08:19,251][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] +[2026-09-25 05:08:25,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.57 Hz +[2026-09-25 05:08:28,474][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.28 Hz +[2026-09-25 05:08:33,460][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.47 iterations per second over 30.00 seconds. +[2026-09-25 05:08:33,460][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003899 s, max step_time: 0.014562 s +[2026-09-25 05:08:35,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.10 Hz +[2026-09-25 05:08:36,320][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.83 iterations per second over 30.00 seconds. +[2026-09-25 05:08:36,320][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003909 s, max step_time: 0.018257 s +[2026-09-25 05:08:38,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.11 Hz +[2026-09-25 05:08:45,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.49 Hz +[2026-09-25 05:08:48,477][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.19 Hz +[2026-09-25 05:08:55,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.97 Hz +[2026-09-25 05:08:58,481][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.81 Hz +[2026-09-25 05:09:03,463][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.94 iterations per second over 30.00 seconds. +[2026-09-25 05:09:03,464][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003892 s, max step_time: 0.007252 s +[2026-09-25 05:09:05,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.50 Hz +[2026-09-25 05:09:06,321][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.86 iterations per second over 30.00 seconds. +[2026-09-25 05:09:06,322][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003909 s, max step_time: 0.007943 s +[2026-09-25 05:09:08,483][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.16 Hz +[2026-09-25 05:09:09,065][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] +[2026-09-25 05:09:09,065][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] +[2026-09-25 05:09:15,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.73 Hz +[2026-09-25 05:09:18,483][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.59 Hz +[2026-09-25 05:09:25,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.63 Hz +[2026-09-25 05:09:28,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.95 Hz +[2026-09-25 05:09:33,464][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.86 iterations per second over 30.00 seconds. +[2026-09-25 05:09:33,464][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003893 s, max step_time: 0.017449 s +[2026-09-25 05:09:35,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.39 Hz +[2026-09-25 05:09:36,321][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.80 iterations per second over 30.00 seconds. +[2026-09-25 05:09:36,325][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003879 s, max step_time: 0.017749 s +[2026-09-25 05:09:38,486][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.97 Hz +[2026-09-25 05:09:45,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.13 Hz +[2026-09-25 05:09:48,487][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.06 Hz +[2026-09-25 05:09:55,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.30 Hz +[2026-09-25 05:09:58,492][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.20 Hz +[2026-09-25 05:10:03,465][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.76 iterations per second over 30.00 seconds. +[2026-09-25 05:10:03,465][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003850 s, max step_time: 0.008142 s +[2026-09-25 05:10:05,691][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.55 Hz +[2026-09-25 05:10:06,322][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.82 iterations per second over 30.00 seconds. +[2026-09-25 05:10:06,326][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003849 s, max step_time: 0.007430 s +[2026-09-25 05:10:08,493][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.53 Hz +[2026-09-25 05:10:15,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.54 Hz +[2026-09-25 05:10:18,498][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.95 Hz +[2026-09-25 05:10:25,694][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.37 Hz +[2026-09-25 05:10:28,498][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.64 Hz +[2026-09-25 05:10:33,467][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 265.98 iterations per second over 30.00 seconds. +[2026-09-25 05:10:33,467][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.003760 s, max step_time: 0.010590 s +[2026-09-25 05:10:35,696][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.93 Hz +[2026-09-25 05:10:36,324][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 266.48 iterations per second over 30.00 seconds. +[2026-09-25 05:10:36,327][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 54 times, mean step_time: 0.003753 s, max step_time: 0.009891 s +[2026-09-25 05:10:38,500][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.53 Hz +[2026-09-25 05:10:45,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.55 Hz +[2026-09-25 05:10:48,501][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.78 Hz +[2026-09-25 05:10:55,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.36 Hz +[2026-09-25 05:10:58,501][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.59 Hz +[2026-09-25 05:11:03,468][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.55 iterations per second over 30.00 seconds. +[2026-09-25 05:11:03,468][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003683 s, max step_time: 0.011003 s +[2026-09-25 05:11:05,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.66 Hz +[2026-09-25 05:11:06,324][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 271.83 iterations per second over 30.00 seconds. +[2026-09-25 05:11:06,328][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.003679 s, max step_time: 0.009767 s +[2026-09-25 05:11:08,504][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.53 Hz +[2026-09-25 05:11:15,706][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.57 Hz +[2026-09-25 05:11:18,506][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 272.15 Hz +[2026-09-25 05:11:25,707][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.27 Hz +[2026-09-25 05:11:28,508][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.43 Hz +[2026-09-25 05:11:28,752][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.61 iterations per second over 22.43 seconds. +[2026-09-25 05:11:28,761][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.99 iterations per second over 25.29 seconds. +[2026-09-25 05:11:32,204][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 05:11:32,205][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 05:11:32,205][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 05:11:32,206][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 05:11:32,206][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 05:11:32,206][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 05:11:32,206][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 05:11:32,206][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 05:11:32,206][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-25 05:11:32,207][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 05:11:32,207][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 05:11:32,207][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 05:11:32,207][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 05:11:32,207][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 05:11:32,207][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 05:11:32,207][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} +[2026-09-25 05:11:32,207][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 +[2026-09-25 05:11:32,207][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 +[2026-09-25 05:11:32,208][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 05:11:32,208][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 05:11:32,208][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 05:11:32,208][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 05:11:32,208][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 05:11:32,208][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 05:11:32,208][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 05:11:32,208][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 05:11:32,208][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 05:11:32,208][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 05:11:32,208][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 05:11:32,208][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 +[2026-09-25 05:11:32,209][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:11:32,221][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 05:11:32,232][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 05:11:32,243][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:11:32,254][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 05:11:32,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:32,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:11:32,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 05:11:32,298][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:32,309][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:11:32,320][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 05:11:32,331][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:32,342][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:11:32,353][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 05:11:32,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:32,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:11:32,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 05:11:32,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:32,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:11:32,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 05:11:32,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:32,441][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:11:32,441][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 05:11:32,441][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 +[2026-09-25 05:11:32,441][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:11:32,495][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 +[2026-09-25 05:11:32,549][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 +[2026-09-25 05:11:32,602][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 +[2026-09-25 05:11:32,656][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 +[2026-09-25 05:11:32,709][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 +[2026-09-25 05:11:32,763][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 +[2026-09-25 05:11:32,817][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 +[2026-09-25 05:11:32,817][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) +[2026-09-25 05:11:32,817][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:11:32,817][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 05:11:32,828][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 05:11:32,833][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 05:11:32,839][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 05:11:32,845][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 05:11:32,851][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 05:11:32,857][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 05:11:32,863][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 05:11:32,869][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=0.012210012210012167, 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)] +[2026-09-25 05:11:32,869][root][INFO] - current_pos: [0.0024795910582131597, -0.0001907377737087046, 0.0024795910582131597, 0.0013351644159609322, -0.0017166399633783413, 0.16117341878385538, -0.0013351644159609322] +[2026-09-25 05:11:32,869][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 05:11:32,869][root][INFO] - starting separate thread for control loop +[2026-09-25 05:11:32,969][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.006837606837606813, pos=0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790284292.969802), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790284292.969802), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790284292.969802), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790284292.969802), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790284292.969802), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.16117341878385538, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790284292.969802), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790284292.969802)] +[2026-09-25 05:11:32,970][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 05:11:32,970][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013 +[2026-09-25 05:11:32,970][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 05:11:33,596][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2699 +[2026-09-25 05:11:33,896][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 05:11:34,523][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 05:11:34,823][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269893949797819, -0.007438773174643032) +[2026-09-25 05:11:34,823][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26989395 -0.00743877] +[2026-09-25 05:11:35,069][root][INFO] - initializing, .... +[2026-09-25 05:11:35,070][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 +[2026-09-25 05:11:35,070][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 +[2026-09-25 05:11:35,070][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 05:11:35,071][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 05:11:35,071][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 05:11:35,071][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 05:11:35,071][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 05:11:35,071][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 05:11:35,071][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 05:11:35,071][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 05:11:35,071][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 05:11:35,071][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 05:11:35,071][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 05:11:35,071][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 +[2026-09-25 05:11:35,071][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:11:35,082][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 05:11:35,094][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:35,105][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:11:35,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 05:11:35,128][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:35,139][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:11:35,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 05:11:35,161][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:35,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 05:11:35,183][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 05:11:35,194][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:35,205][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:11:35,216][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 05:11:35,227][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:35,238][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:11:35,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 05:11:35,259][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:35,270][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:11:35,281][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 05:11:35,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 05:11:35,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 05:11:35,302][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 05:11:35,302][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 +[2026-09-25 05:11:35,302][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:11:35,356][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 +[2026-09-25 05:11:35,410][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 +[2026-09-25 05:11:35,463][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 +[2026-09-25 05:11:35,517][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 +[2026-09-25 05:11:35,570][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 +[2026-09-25 05:11:35,624][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 +[2026-09-25 05:11:35,678][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 +[2026-09-25 05:11:35,678][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) +[2026-09-25 05:11:35,678][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 05:11:35,678][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 05:11:35,689][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 05:11:35,694][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 05:11:35,700][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 05:11:35,706][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 05:11:35,712][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 05:11:35,718][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 05:11:35,724][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 05:11:35,730][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, 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)] +[2026-09-25 05:11:35,730][root][INFO] - current_pos: [0.04367895017929335, -0.0013351644159609322, 0.000953688868543523, 0.000953688868543523, -0.004386968795300206, -0.1409552147707327, 0.002861066605630569] +[2026-09-25 05:11:35,730][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 05:11:35,730][root][INFO] - starting separate thread for control loop +[2026-09-25 05:11:35,830][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=0.04367895017929335, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790284295.830622), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790284295.830622), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790284295.830622), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790284295.830622), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.004386968795300206, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790284295.830622), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.1409552147707327, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790284295.830622), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.002861066605630569, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790284295.830622)] +[2026-09-25 05:11:35,830][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 05:11:35,830][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0029 +[2026-09-25 05:11:35,830][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 05:11:36,510][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554 +[2026-09-25 05:11:36,810][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 05:11:37,440][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 05:11:37,740][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.26531624322881, -0.011635004196227428) +[2026-09-25 05:11:37,740][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26531624 -0.011635 ] +[2026-09-25 05:11:37,870][root][INFO] - initializing, .... +[2026-09-25 05:11:45,072][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.78 Hz +[2026-09-25 05:11:47,871][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.46 Hz +[2026-09-25 05:11:55,075][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.12 Hz +[2026-09-25 05:11:57,872][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.85 Hz +[2026-09-25 05:12:02,873][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.50 iterations per second over 30.00 seconds. +[2026-09-25 05:12:02,873][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003913 s, max step_time: 0.081420 s +[2026-09-25 05:12:05,078][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.24 Hz +[2026-09-25 05:12:05,733][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.61 iterations per second over 30.00 seconds. +[2026-09-25 05:12:05,733][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003974 s, max step_time: 0.080122 s +[2026-09-25 05:12:07,873][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.38 Hz +[2026-09-25 05:12:10,900][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] +[2026-09-25 05:12:10,900][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] +[2026-09-25 05:12:15,079][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.17 Hz +[2026-09-25 05:12:17,877][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.12 Hz +[2026-09-25 05:12:25,081][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.15 Hz +[2026-09-25 05:12:27,878][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.36 Hz +[2026-09-25 05:12:32,873][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.80 iterations per second over 30.00 seconds. +[2026-09-25 05:12:32,873][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003879 s, max step_time: 0.029351 s +[2026-09-25 05:12:35,086][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.22 Hz +[2026-09-25 05:12:35,733][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.80 iterations per second over 30.00 seconds. +[2026-09-25 05:12:35,733][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003864 s, max step_time: 0.028498 s +[2026-09-25 05:12:37,881][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.83 Hz +[2026-09-25 05:12:45,086][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.84 Hz +[2026-09-25 05:12:47,884][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.23 Hz +[2026-09-25 05:12:55,090][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.74 Hz +[2026-09-25 05:12:57,885][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.05 Hz +[2026-09-25 05:13:02,875][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.65 iterations per second over 30.00 seconds. +[2026-09-25 05:13:05,090][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 +[2026-09-25 05:13:05,736][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.41 iterations per second over 30.00 seconds. +[2026-09-25 05:13:05,736][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: 0.007112 s +[2026-09-25 05:13:07,885][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.29 Hz +[2026-09-25 05:13:15,091][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.98 Hz +[2026-09-25 05:13:17,885][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 +[2026-09-25 05:13:25,092][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.47 Hz +[2026-09-25 05:13:27,886][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.60 Hz +[2026-09-25 05:13:32,875][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.20 iterations per second over 30.00 seconds. +[2026-09-25 05:13:35,095][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.22 Hz +[2026-09-25 05:13:35,737][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.09 iterations per second over 30.00 seconds. +[2026-09-25 05:13:35,738][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003845 s, max step_time: 0.007409 s +[2026-09-25 05:13:37,889][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.03 Hz +[2026-09-25 05:13:45,097][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 +[2026-09-25 05:13:46,913][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003850 s, max step_time: 0.007145 s +[2026-09-25 05:13:47,891][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.28 Hz +[2026-09-25 05:13:55,099][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.57 Hz +[2026-09-25 05:13:56,882][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] +[2026-09-25 05:13:56,882][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] +[2026-09-25 05:13:57,892][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.16 Hz +[2026-09-25 05:14:02,878][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.92 iterations per second over 30.00 seconds. +[2026-09-25 05:14:05,101][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.12 Hz +[2026-09-25 05:14:05,740][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.51 iterations per second over 30.00 seconds. +[2026-09-25 05:14:05,741][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003929 s, max step_time: 0.015977 s +[2026-09-25 05:14:07,894][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.52 Hz +[2026-09-25 05:14:15,103][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.85 Hz +[2026-09-25 05:14:16,915][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003931 s, max step_time: 0.017221 s +[2026-09-25 05:14:17,898][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 +[2026-09-25 05:14:25,106][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.43 Hz +[2026-09-25 05:14:27,900][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.72 Hz +[2026-09-25 05:14:32,880][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.17 iterations per second over 30.00 seconds. +[2026-09-25 05:14:35,107][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.26 Hz +[2026-09-25 05:14:35,741][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.89 iterations per second over 30.00 seconds. +[2026-09-25 05:14:35,741][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003878 s, max step_time: 0.007091 s +[2026-09-25 05:14:37,903][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.23 Hz +[2026-09-25 05:14:45,109][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.08 Hz +[2026-09-25 05:14:46,919][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003899 s, max step_time: 0.007741 s +[2026-09-25 05:14:47,907][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.61 Hz +[2026-09-25 05:14:55,111][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.12 Hz +[2026-09-25 05:14:57,907][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.98 Hz +[2026-09-25 05:15:02,882][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.42 iterations per second over 30.00 seconds. +[2026-09-25 05:15:05,112][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.37 Hz +[2026-09-25 05:15:05,741][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.97 iterations per second over 30.00 seconds. +[2026-09-25 05:15:05,745][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003876 s, max step_time: 0.007417 s +[2026-09-25 05:15:07,910][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.13 Hz +[2026-09-25 05:15:15,117][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 +[2026-09-25 05:15:17,911][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.18 Hz +[2026-09-25 05:15:25,119][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.22 Hz +[2026-09-25 05:15:26,136][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: 0.009796 s +[2026-09-25 05:15:27,914][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.61 Hz +[2026-09-25 05:15:32,887][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.63 iterations per second over 30.00 seconds. +[2026-09-25 05:15:35,121][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.56 Hz +[2026-09-25 05:15:35,742][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.12 iterations per second over 30.00 seconds. +[2026-09-25 05:15:35,746][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003844 s, max step_time: 0.010507 s +[2026-09-25 05:15:37,916][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.56 Hz +[2026-09-25 05:15:45,125][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 +[2026-09-25 05:15:47,919][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.84 Hz +[2026-09-25 05:15:55,126][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 +[2026-09-25 05:15:56,139][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003853 s, max step_time: 0.009657 s +[2026-09-25 05:15:57,919][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.97 Hz +[2026-09-25 05:16:02,889][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.08 iterations per second over 30.00 seconds. +[2026-09-25 05:16:05,126][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 +[2026-09-25 05:16:05,744][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.15 iterations per second over 30.00 seconds. +[2026-09-25 05:16:05,748][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 57 times, mean step_time: 0.003859 s, max step_time: 0.011078 s +[2026-09-25 05:16:07,920][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.08 Hz +[2026-09-25 05:16:15,127][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 +[2026-09-25 05:16:17,923][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.63 Hz +[2026-09-25 05:16:25,129][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.06 Hz +[2026-09-25 05:16:26,140][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003850 s, max step_time: 0.009583 s +[2026-09-25 05:16:27,924][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.68 Hz +[2026-09-25 05:16:32,893][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.70 iterations per second over 30.00 seconds. +[2026-09-25 05:16:35,130][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.58 Hz +[2026-09-25 05:16:35,747][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.31 iterations per second over 30.00 seconds. +[2026-09-25 05:16:35,751][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.003856 s, max step_time: 0.009385 s +[2026-09-25 05:16:37,923][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.90 Hz +[2026-09-25 05:16:45,133][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.83 Hz +[2026-09-25 05:16:47,927][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.73 Hz +[2026-09-25 05:16:55,133][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.39 Hz +[2026-09-25 05:16:56,143][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.003874 s, max step_time: 0.008792 s +[2026-09-25 05:16:57,927][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.68 Hz +[2026-09-25 05:17:02,895][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.45 iterations per second over 30.00 seconds. +[2026-09-25 05:17:05,135][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 +[2026-09-25 05:17:05,749][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.65 iterations per second over 30.00 seconds. +[2026-09-25 05:17:05,754][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 37 times, mean step_time: 0.003896 s, max step_time: 0.010337 s +[2026-09-25 05:17:07,930][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.54 Hz +[2026-09-25 05:17:15,137][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.24 Hz +[2026-09-25 05:17:17,932][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.03 Hz +[2026-09-25 05:17:18,138][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.76 iterations per second over 12.39 seconds. +[2026-09-25 05:17:18,141][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.84 iterations per second over 15.25 seconds. diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/rounds.json b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..0e0e98d14eef5dfffd72680fda50aa0b145bb306 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/metadata/rounds.json @@ -0,0 +1,199 @@ +{ + "rounds": [ + { + "actions_sent": 290, + "chunks": 9, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0002", + "reviewed_at_ns": 1790282671781583432, + "round_number": 2, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 299, + "chunks": 9, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_pomegranate/data/round_0003", + "reviewed_at_ns": 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b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010/manifests/camera.json @@ -0,0 +1,104 @@ +{ + "prometheus_camera_base_0_recorder": { + "camera_frames": { + "base_0_rgb": 272 + }, + "camera_timestamp_samples": 272, + "complete_sensor_bundles": 272, + "counts": { + "action.executed": 261, + "camera.base_0_rgb": 272, + "camera.left_wrist_0_rgb": 272, + "camera.right_wrist_0_rgb": 272, + "dropped": 0, + "event.workflow": 1, + "items": 2167, + "robot.robot_state": 1089 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010", + "failure": "", + "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", + "round_number": 10, + "run_id": "20260924_222937_279841_round_0010", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_camera_base_0_recorder", + "record_mode": "sensor", + "schema": 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+ "record_mode": "sensor", + "schema": "prometheus_raw_episode_v1", + "sensor_kind": "camera", + "sensor_name": "left_wrist_0", + "status": "saved", + "updated_at_unix": 1790260200.7857914 + }, + "prometheus_camera_right_wrist_0_recorder": { + "camera_frames": { + "right_wrist_0_rgb": 272 + }, + "camera_timestamp_samples": 272, + "complete_sensor_bundles": 272, + "counts": { + "action.executed": 261, + "camera.base_0_rgb": 272, + "camera.left_wrist_0_rgb": 272, + "camera.right_wrist_0_rgb": 272, + "dropped": 0, + "event.workflow": 1, + "items": 2167, + "robot.robot_state": 1089 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010", + "failure": "", + "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", + "round_number": 10, + "run_id": "20260924_222937_279841_round_0010", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_camera_right_wrist_0_recorder", + "record_mode": "sensor", + "schema": "prometheus_raw_episode_v1", + "sensor_kind": "camera", + "sensor_name": "right_wrist_0", + "status": "saved", + "updated_at_unix": 1790260200.7857914 + } +} diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010/manifests/event.json b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010/manifests/event.json new file mode 100644 index 0000000000000000000000000000000000000000..2390223c24fcab25b6386d7c98e2cba4beabf398 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010/manifests/event.json @@ -0,0 +1,28 @@ +{ + "prometheus_event_recorder": { + "counts": { + "action.executed": 261, + "camera.base_0_rgb": 272, + "camera.left_wrist_0_rgb": 272, + "camera.right_wrist_0_rgb": 272, + "dropped": 0, + "event.workflow": 1, + "items": 2167, + "robot.robot_state": 1089 + }, + "episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010", + "event_samples": 1, + "failure": "", + "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", + "round_number": 10, + "run_id": "20260924_222937_279841_round_0010", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_event_recorder", + "record_mode": "event", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1790260200.7857914 + } +} diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010/manifests/robot.json b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..8dab65d5e0e0e99160537a2042973192b2518aab --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010/manifests/robot.json @@ -0,0 +1,37 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 261, + "camera.base_0_rgb": 272, + "camera.left_wrist_0_rgb": 272, + "camera.right_wrist_0_rgb": 272, + "dropped": 0, + "event.workflow": 1, + "items": 2167, + "robot.robot_state": 1089 + }, + "episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010", + "failure": "", + "incomplete_robot_samples": { + "left": 1089, + "right": 1089 + }, + "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", + "round_number": 10, + "run_id": "20260924_222937_279841_round_0010", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 1089, + "right": 1089 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1790260200.7857914 + } +} diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010/manifests/tactile.json b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0010/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/hydra/.hydra/config.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ee55ddb3204cf2557969e374065496033b69c7fd --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/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/sweep_sponge + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the brush to sweep the sponge into the dustpan. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${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/sweep_sponge/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..59db1023445645d830e5c446f7e163d35503f648 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,163 @@ +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 brush to sweep the sponge into the dustpan." + - run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/sweep_sponge + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use + the brush to sweep the sponge into the dustpan.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/sweep_sponge,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/sweep_sponge/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/sweep_sponge/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0714c2846baab6123b68cfe913713f831dae359c --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,7 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Use the brush to sweep the sponge into the dustpan." +- run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/sweep_sponge diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..ca498e9ba28a0fc077ff999e249b4e8600832fa8 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/hydra/openpi_rollout.log @@ -0,0 +1,1377 @@ +[2026-09-24 22:15:21,622][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 22:15:21,623][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 22:15:21,623][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 22:15:21,623][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 22:15:21,624][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 22:15:21,624][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 22:15:21,624][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 22:15:21,624][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 22:15:21,624][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 22:15:21,625][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 22:15:21,625][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 22:15:21,625][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 22:15:21,625][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 22:15:21,625][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 22:15:21,625][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 22:15:21,625][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 22:15:21,625][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 22:15:21,625][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 22:15:21,626][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:15:21,626][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:15:21,626][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:15:21,626][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:15:21,626][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:15:21,626][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:15:21,626][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:15:21,626][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:15:21,626][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:15:21,626][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:15:21,626][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 22:15:21,626][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 22:15:21,627][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:15:21,638][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:15:21,649][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 22:15:21,660][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:15:21,671][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:15:21,682][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:21,693][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:15:21,704][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:15:21,715][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:21,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:15:21,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:15:21,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:21,759][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:15:21,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:15:21,781][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:21,792][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:15:21,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:15:21,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:21,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:15:21,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:15:21,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:21,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:15:21,856][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 22:15:21,856][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 22:15:21,856][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:15:21,910][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 22:15:21,965][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 22:15:22,019][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 22:15:22,073][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 22:15:22,127][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 22:15:22,181][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 22:15:22,235][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 22:15:22,235][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 22:15:22,235][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:15:22,235][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:15:22,246][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:15:22,251][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:15:22,258][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:15:22,264][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:15:22,270][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:15:22,276][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:15:22,282][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:15:22,288][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 22:15:22,288][root][INFO] - current_pos: [-0.010490577553978753, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, 0.0013351644159609322, 0.03032730601968403, -0.003242542153047978] +[2026-09-24 22:15:22,288][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:15:22,288][root][INFO] - starting separate thread for control loop +[2026-09-24 22:15:22,389][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=-0.010490577553978753, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790259322.3891587), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790259322.3891587), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259322.3891587), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1790259322.3891587), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259322.3891587), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.03032730601968403, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790259322.3891587), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.003242542153047978, voltage=-1, temp_mos=25.0, temp_rotor=22.0, timestamp=1790259322.3891587)] +[2026-09-24 22:15:22,389][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:15:22,389][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0032 +[2026-09-24 22:15:22,389][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:15:23,074][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2699 +[2026-09-24 22:15:23,374][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:15:24,001][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 22:15:24,302][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269893949797819, -0.007438773174643032) +[2026-09-24 22:15:24,302][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26989395 -0.00743877] +[2026-09-24 22:15:24,599][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 22:15:24,599][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 22:15:24,599][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:15:24,599][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:15:24,599][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:15:24,599][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:15:24,599][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:15:24,599][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:15:24,599][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:15:24,599][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:15:24,599][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:15:24,599][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:15:24,599][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 22:15:24,600][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 22:15:24,600][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:15:24,602][root][INFO] - initializing, .... +[2026-09-24 22:15:24,611][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:15:24,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:24,634][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:15:24,645][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:15:24,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:24,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:15:24,677][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:15:24,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:24,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:15:24,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:15:24,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:24,731][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:15:24,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:15:24,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:24,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:15:24,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:15:24,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:24,795][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:15:24,806][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:15:24,816][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:15:24,827][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:15:24,827][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 22:15:24,827][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 22:15:24,828][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:15:24,882][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 22:15:24,935][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 22:15:24,989][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 22:15:25,042][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 22:15:25,096][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 22:15:25,151][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 22:15:25,205][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 22:15:25,205][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 22:15:25,206][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:15:25,206][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:15:25,216][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:15:25,222][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:15:25,228][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:15:25,234][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:15:25,240][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:15:25,246][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:15:25,251][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:15:25,259][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=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-24 22:15:25,259][root][INFO] - current_pos: [-0.000953688868543523, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, -0.0013351644159609322, -0.05436026550698081, -0.004386968795300206] +[2026-09-24 22:15:25,259][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:15:25,259][root][INFO] - starting separate thread for control loop +[2026-09-24 22:15:25,359][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790259325.3596418), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790259325.3596418), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=24.0, temp_rotor=23.0, timestamp=1790259325.3596418), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259325.3596418), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0017166399633747886, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1790259325.3596418), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.05436026550698081, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790259325.3596418), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.004386968795300206, voltage=-1, temp_mos=23.0, temp_rotor=22.0, timestamp=1790259325.3596418)] +[2026-09-24 22:15:25,359][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:15:25,359][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-24 22:15:25,359][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:15:26,040][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 22:15:26,340][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:15:26,956][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-24 22:15:27,256][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.010872053101396162) +[2026-09-24 22:15:27,257][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.01087205] +[2026-09-24 22:15:27,380][root][INFO] - initializing, .... +[2026-09-24 22:15:34,604][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.75 Hz +[2026-09-24 22:15:37,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.81 Hz +[2026-09-24 22:15:44,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.29 Hz +[2026-09-24 22:15:44,810][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 22:15:44,811][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 22:15:47,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.14 Hz +[2026-09-24 22:15:52,289][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.83 iterations per second over 30.00 seconds. +[2026-09-24 22:15:52,289][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003863 s, max step_time: 0.070888 s +[2026-09-24 22:15:54,607][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.65 Hz +[2026-09-24 22:15:55,260][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.86 iterations per second over 30.00 seconds. +[2026-09-24 22:15:55,260][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003908 s, max step_time: 0.069542 s +[2026-09-24 22:15:57,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.85 Hz +[2026-09-24 22:16:04,610][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.00 Hz +[2026-09-24 22:16:07,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.63 Hz +[2026-09-24 22:16:14,611][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.28 Hz +[2026-09-24 22:16:17,393][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.24 Hz +[2026-09-24 22:16:22,292][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.57 iterations per second over 30.00 seconds. +[2026-09-24 22:16:24,615][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.23 Hz +[2026-09-24 22:16:25,263][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.01 iterations per second over 30.00 seconds. +[2026-09-24 22:16:27,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.54 Hz +[2026-09-24 22:16:34,615][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.18 Hz +[2026-09-24 22:16:37,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.23 Hz +[2026-09-24 22:16:44,618][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.37 Hz +[2026-09-24 22:16:47,400][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.53 Hz +[2026-09-24 22:16:52,295][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.54 iterations per second over 30.00 seconds. +[2026-09-24 22:16:54,618][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.32 Hz +[2026-09-24 22:16:55,263][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.03 iterations per second over 30.00 seconds. +[2026-09-24 22:16:57,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.99 Hz +[2026-09-24 22:17:04,620][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.36 Hz +[2026-09-24 22:17:05,736][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003815 s, max step_time: 0.007120 s +[2026-09-24 22:17:07,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.24 Hz +[2026-09-24 22:17:08,726][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003819 s, max step_time: 0.007013 s +[2026-09-24 22:17:14,623][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.15 Hz +[2026-09-24 22:17:17,026][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 22:17:17,026][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 22:17:17,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.14 Hz +[2026-09-24 22:17:22,296][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.46 iterations per second over 30.00 seconds. +[2026-09-24 22:17:24,626][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.63 Hz +[2026-09-24 22:17:25,264][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.06 iterations per second over 30.00 seconds. +[2026-09-24 22:17:27,407][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.27 Hz +[2026-09-24 22:17:34,627][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.24 Hz +[2026-09-24 22:17:35,739][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003872 s, max step_time: 0.018426 s +[2026-09-24 22:17:37,410][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.43 Hz +[2026-09-24 22:17:38,728][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003864 s, max step_time: 0.015311 s +[2026-09-24 22:17:44,630][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.12 Hz +[2026-09-24 22:17:47,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.97 Hz +[2026-09-24 22:17:52,298][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.78 iterations per second over 30.00 seconds. +[2026-09-24 22:17:54,631][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.18 Hz +[2026-09-24 22:17:55,267][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.91 iterations per second over 30.00 seconds. +[2026-09-24 22:17:57,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.82 Hz +[2026-09-24 22:18:04,631][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.49 Hz +[2026-09-24 22:18:05,740][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003810 s, max step_time: 0.007183 s +[2026-09-24 22:18:07,416][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.33 Hz +[2026-09-24 22:18:08,729][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003813 s, max step_time: 0.007229 s +[2026-09-24 22:18:14,633][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.68 Hz +[2026-09-24 22:18:17,416][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.89 Hz +[2026-09-24 22:18:22,300][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.68 iterations per second over 30.00 seconds. +[2026-09-24 22:18:24,635][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.34 Hz +[2026-09-24 22:18:25,269][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.34 iterations per second over 30.00 seconds. +[2026-09-24 22:18:27,417][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.27 Hz +[2026-09-24 22:18:34,637][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.93 Hz +[2026-09-24 22:18:35,743][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003818 s, max step_time: 0.007061 s +[2026-09-24 22:18:37,419][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.96 Hz +[2026-09-24 22:18:40,286][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003846 s, max step_time: 0.008115 s +[2026-09-24 22:18:44,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.75 Hz +[2026-09-24 22:18:45,760][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 22:18:45,760][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 22:18:47,420][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.27 Hz +[2026-09-24 22:18:52,304][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.00 iterations per second over 30.00 seconds. +[2026-09-24 22:18:54,640][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.97 Hz +[2026-09-24 22:18:55,273][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.44 iterations per second over 30.00 seconds. +[2026-09-24 22:18:57,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.60 Hz +[2026-09-24 22:19:04,641][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.59 Hz +[2026-09-24 22:19:05,744][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003819 s, max step_time: 0.018872 s +[2026-09-24 22:19:07,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.69 Hz +[2026-09-24 22:19:10,287][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003795 s, max step_time: 0.019542 s +[2026-09-24 22:19:14,643][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.54 Hz +[2026-09-24 22:19:17,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.50 Hz +[2026-09-24 22:19:22,307][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.01 iterations per second over 30.00 seconds. +[2026-09-24 22:19:24,644][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.59 Hz +[2026-09-24 22:19:25,274][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.38 iterations per second over 30.00 seconds. +[2026-09-24 22:19:27,426][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.85 Hz +[2026-09-24 22:19:34,646][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 273.44 Hz +[2026-09-24 22:19:35,745][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003675 s, max step_time: 0.007019 s +[2026-09-24 22:19:37,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.58 Hz +[2026-09-24 22:19:38,807][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 271.78 iterations per second over 13.53 seconds. +[2026-09-24 22:19:38,814][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 272.92 iterations per second over 16.51 seconds. +[2026-09-24 22:19:59,781][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 22:19:59,782][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 22:19:59,782][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 22:19:59,782][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 22:19:59,782][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 22:19:59,783][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 22:19:59,783][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 22:19:59,783][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 22:19:59,783][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 22:19:59,784][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 22:19:59,784][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 22:19:59,784][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 22:19:59,784][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 22:19:59,784][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 22:19:59,784][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 22:19:59,784][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 22:19:59,784][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 22:19:59,784][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 22:19:59,784][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:19:59,784][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:19:59,785][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:19:59,785][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:19:59,785][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:19:59,785][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:19:59,785][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:19:59,785][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:19:59,785][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:19:59,785][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:19:59,785][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 22:19:59,785][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 22:19:59,786][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:19:59,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:19:59,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 22:19:59,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:19:59,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:19:59,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:19:59,853][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:19:59,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:19:59,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:19:59,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:19:59,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:19:59,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:19:59,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:19:59,929][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:19:59,940][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:19:59,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:19:59,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:19:59,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:19:59,983][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:19:59,994][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:20:00,005][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:20:00,016][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:20:00,016][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 22:20:00,016][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 22:20:00,016][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:20:00,071][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 22:20:00,125][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 22:20:00,179][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 22:20:00,233][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 22:20:00,287][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 22:20:00,341][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 22:20:00,395][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 22:20:00,396][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 22:20:00,396][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:20:00,396][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:20:00,406][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:20:00,412][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:20:00,419][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:20:00,425][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:20:00,431][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:20:00,437][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:20:00,443][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:20:00,449][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=-0.02051282051282044, 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=0.0024420024420024333, 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 22:20:00,449][root][INFO] - current_pos: [0.022316319523918438, -0.0013351644159609322, 0.0024795910582131597, 0.000953688868543523, 0.0005722133211261138, 0.07114518959334681, 0.022316319523918438] +[2026-09-24 22:20:00,449][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:20:00,449][root][INFO] - starting separate thread for control loop +[2026-09-24 22:20:00,549][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.03418803418803407, pos=0.02193484397650103, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790259600.549603), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=-0.0013351644159609322, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259600.549603), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=26.0, temp_rotor=28.0, timestamp=1790259600.549603), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=29.0, timestamp=1790259600.549603), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259600.549603), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.07114518959334681, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259600.549603), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.022697795071335847, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259600.549603)] +[2026-09-24 22:20:00,549][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:20:00,549][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-24 22:20:00,549][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:20:01,179][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-24 22:20:01,479][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:20:02,109][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 22:20:02,410][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174643032) +[2026-09-24 22:20:02,410][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00743877] +[2026-09-24 22:20:02,649][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 22:20:02,649][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 22:20:02,649][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:20:02,649][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:20:02,649][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:20:02,649][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:20:02,649][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:20:02,649][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:20:02,649][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:20:02,649][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:20:02,649][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:20:02,649][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:20:02,649][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 22:20:02,649][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 22:20:02,650][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:20:02,651][root][INFO] - initializing, .... +[2026-09-24 22:20:02,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:20:02,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:20:02,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:20:02,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:20:02,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:20:02,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:20:02,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:20:02,738][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:20:02,749][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:20:02,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:20:02,771][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:20:02,782][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:20:02,793][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:20:02,804][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:20:02,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:20:02,825][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:20:02,836][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:20:02,847][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:20:02,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:20:02,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:20:02,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:20:02,879][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 22:20:02,879][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 22:20:02,879][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:20:02,933][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 22:20:02,987][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 22:20:03,040][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 22:20:03,094][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 22:20:03,147][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 22:20:03,201][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 22:20:03,254][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 22:20:03,255][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 22:20:03,255][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:20:03,255][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:20:03,266][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:20:03,271][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:20:03,277][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:20:03,283][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:20:03,290][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:20:03,296][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:20:03,302][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:20:03,308][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=-0.0073260073260073, 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 22:20:03,308][root][INFO] - current_pos: [-0.004768444342717615, -0.0017166399633783413, 0.0005722133211261138, 0.0005722133211261138, -0.0005722133211261138, -0.0001907377737087046, -0.004386968795300206] +[2026-09-24 22:20:03,308][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:20:03,308][root][INFO] - starting separate thread for control loop +[2026-09-24 22:20:03,408][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.004768444342717615, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790259603.408588), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.07521367521367495, pos=-0.0013351644159644849, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259603.408588), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=0.0005722133211261138, voltage=-1, temp_mos=25.0, temp_rotor=26.0, timestamp=1790259603.408588), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=29.0, timestamp=1790259603.408588), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0005722133211261138, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1790259603.408588), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.0001907377737087046, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259603.408588), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.004386968795300206, voltage=-1, temp_mos=24.0, temp_rotor=23.0, timestamp=1790259603.408588)] +[2026-09-24 22:20:03,408][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:20:03,408][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-24 22:20:03,408][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:20:04,086][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 22:20:04,386][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:20:05,011][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-24 22:20:05,312][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.010490577553982305) +[2026-09-24 22:20:05,312][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.01049058] +[2026-09-24 22:20:05,434][root][INFO] - initializing, .... +[2026-09-24 22:20:12,652][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.97 Hz +[2026-09-24 22:20:15,438][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.60 Hz +[2026-09-24 22:20:22,172][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-24 22:20:22,172][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-24 22:20:22,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.33 Hz +[2026-09-24 22:20:25,439][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.27 Hz +[2026-09-24 22:20:30,451][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.48 iterations per second over 30.00 seconds. +[2026-09-24 22:20:30,451][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003883 s, max step_time: 0.075032 s +[2026-09-24 22:20:32,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.69 Hz +[2026-09-24 22:20:33,310][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.38 iterations per second over 30.00 seconds. +[2026-09-24 22:20:33,310][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003915 s, max step_time: 0.075024 s +[2026-09-24 22:20:35,439][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.19 Hz +[2026-09-24 22:20:42,659][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.72 Hz +[2026-09-24 22:20:45,441][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.85 Hz +[2026-09-24 22:20:52,660][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.46 Hz +[2026-09-24 22:20:55,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.79 Hz +[2026-09-24 22:21:00,454][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.94 iterations per second over 30.00 seconds. +[2026-09-24 22:21:00,454][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003847 s, max step_time: 0.007063 s +[2026-09-24 22:21:02,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.62 Hz +[2026-09-24 22:21:03,313][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.84 iterations per second over 30.00 seconds. +[2026-09-24 22:21:05,443][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.96 Hz +[2026-09-24 22:21:07,942][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003848 s, max step_time: 0.007580 s +[2026-09-24 22:21:12,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.60 Hz +[2026-09-24 22:21:15,445][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.53 Hz +[2026-09-24 22:21:22,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.99 Hz +[2026-09-24 22:21:25,448][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.13 Hz +[2026-09-24 22:21:30,457][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.84 iterations per second over 30.00 seconds. +[2026-09-24 22:21:30,457][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003834 s, max step_time: 0.007271 s +[2026-09-24 22:21:32,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.34 Hz +[2026-09-24 22:21:33,317][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.37 iterations per second over 30.00 seconds. +[2026-09-24 22:21:35,448][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.30 Hz +[2026-09-24 22:21:37,945][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: 0.007066 s +[2026-09-24 22:21:42,670][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.64 Hz +[2026-09-24 22:21:45,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.18 Hz +[2026-09-24 22:21:52,671][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.13 Hz +[2026-09-24 22:21:55,450][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.57 Hz +[2026-09-24 22:22:00,459][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.28 iterations per second over 30.00 seconds. +[2026-09-24 22:22:00,459][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003827 s, max step_time: 0.007827 s +[2026-09-24 22:22:02,673][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.54 Hz +[2026-09-24 22:22:03,320][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.00 iterations per second over 30.00 seconds. +[2026-09-24 22:22:05,454][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.38 Hz +[2026-09-24 22:22:07,948][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003878 s, max step_time: 0.007067 s +[2026-09-24 22:22:12,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.07 Hz +[2026-09-24 22:22:15,456][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.36 Hz +[2026-09-24 22:22:20,520][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 22:22:20,521][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 22:22:22,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.39 Hz +[2026-09-24 22:22:25,458][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.56 Hz +[2026-09-24 22:22:30,459][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.00 iterations per second over 30.00 seconds. +[2026-09-24 22:22:30,459][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003968 s, max step_time: 0.032872 s +[2026-09-24 22:22:32,683][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 22:22:33,323][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.41 iterations per second over 30.00 seconds. +[2026-09-24 22:22:35,458][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.18 Hz +[2026-09-24 22:22:37,949][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003934 s, max step_time: 0.033235 s +[2026-09-24 22:22:42,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.73 Hz +[2026-09-24 22:22:45,460][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.07 Hz +[2026-09-24 22:22:52,688][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.00 Hz +[2026-09-24 22:22:55,463][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.01 Hz +[2026-09-24 22:23:00,460][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.36 iterations per second over 30.00 seconds. +[2026-09-24 22:23:02,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.08 Hz +[2026-09-24 22:23:03,324][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.75 iterations per second over 30.00 seconds. +[2026-09-24 22:23:05,467][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.41 Hz +[2026-09-24 22:23:12,212][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: 0.007602 s +[2026-09-24 22:23:12,690][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.79 Hz +[2026-09-24 22:23:15,467][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.69 Hz +[2026-09-24 22:23:15,708][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: 0.007181 s +[2026-09-24 22:23:22,695][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.26 Hz +[2026-09-24 22:23:25,470][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.30 Hz +[2026-09-24 22:23:30,463][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.94 iterations per second over 30.00 seconds. +[2026-09-24 22:23:32,698][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.83 Hz +[2026-09-24 22:23:33,328][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.60 iterations per second over 30.00 seconds. +[2026-09-24 22:23:35,472][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.35 Hz +[2026-09-24 22:23:37,888][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 22:23:37,891][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 22:23:42,215][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003921 s, max step_time: 0.020917 s +[2026-09-24 22:23:42,700][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.64 Hz +[2026-09-24 22:23:45,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.83 Hz +[2026-09-24 22:23:45,709][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003900 s, max step_time: 0.022674 s +[2026-09-24 22:23:52,701][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.19 Hz +[2026-09-24 22:23:55,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.37 Hz +[2026-09-24 22:24:00,465][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.92 iterations per second over 30.00 seconds. +[2026-09-24 22:24:02,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.21 Hz +[2026-09-24 22:24:03,329][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.82 iterations per second over 30.00 seconds. +[2026-09-24 22:24:05,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.79 Hz +[2026-09-24 22:24:12,216][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003840 s, max step_time: 0.007142 s +[2026-09-24 22:24:12,706][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.36 Hz +[2026-09-24 22:24:15,479][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.32 Hz +[2026-09-24 22:24:15,711][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: 0.007844 s +[2026-09-24 22:24:22,708][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.16 Hz +[2026-09-24 22:24:25,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.92 Hz +[2026-09-24 22:24:30,466][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.26 iterations per second over 30.00 seconds. +[2026-09-24 22:24:32,709][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.55 Hz +[2026-09-24 22:24:33,329][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.67 iterations per second over 30.00 seconds. +[2026-09-24 22:24:33,421][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 22:24:33,421][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 22:24:35,483][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.47 Hz +[2026-09-24 22:24:42,218][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003889 s, max step_time: 0.013815 s +[2026-09-24 22:24:42,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.40 Hz +[2026-09-24 22:24:45,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.64 Hz +[2026-09-24 22:24:45,713][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003892 s, max step_time: 0.015169 s +[2026-09-24 22:24:52,713][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.71 Hz +[2026-09-24 22:24:55,488][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.34 Hz +[2026-09-24 22:25:00,468][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.55 iterations per second over 30.00 seconds. +[2026-09-24 22:25:02,714][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.38 Hz +[2026-09-24 22:25:03,333][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.04 iterations per second over 30.00 seconds. +[2026-09-24 22:25:05,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.43 Hz +[2026-09-24 22:25:12,221][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003822 s, max step_time: 0.008534 s +[2026-09-24 22:25:12,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.55 Hz +[2026-09-24 22:25:15,497][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.94 Hz +[2026-09-24 22:25:15,716][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003795 s, max step_time: 0.007820 s +[2026-09-24 22:25:22,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.29 Hz +[2026-09-24 22:25:25,494][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.16 Hz +[2026-09-24 22:25:30,469][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 268.16 iterations per second over 30.00 seconds. +[2026-09-24 22:25:32,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.50 Hz +[2026-09-24 22:25:33,334][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.76 iterations per second over 30.00 seconds. +[2026-09-24 22:25:35,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.88 Hz +[2026-09-24 22:25:42,222][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003701 s, max step_time: 0.009390 s +[2026-09-24 22:25:42,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.55 Hz +[2026-09-24 22:25:45,502][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.23 Hz +[2026-09-24 22:25:45,719][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.003700 s, max step_time: 0.009727 s +[2026-09-24 22:25:52,721][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.94 Hz +[2026-09-24 22:25:52,769][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.02 iterations per second over 19.44 seconds. +[2026-09-24 22:25:52,776][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.27 iterations per second over 22.31 seconds. +[2026-09-24 22:25:55,503][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 22:25:55,505][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 22:25:55,505][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 22:25:55,505][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 22:25:55,505][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 22:25:55,505][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 22:25:55,506][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 22:25:55,506][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 22:25:55,506][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 22:25:55,507][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 22:25:55,507][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 22:25:55,507][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 22:25:55,507][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 22:25:55,507][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 22:25:55,507][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 22:25:55,507][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 22:25:55,507][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 22:25:55,508][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 22:25:55,508][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:25:55,508][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:25:55,508][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:25:55,508][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:25:55,508][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:25:55,508][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:25:55,508][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:25:55,508][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:25:55,508][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:25:55,508][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:25:55,508][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 22:25:55,508][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 22:25:55,509][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:25:55,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:25:55,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 22:25:55,543][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:25:55,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:25:55,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:55,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:25:55,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:25:55,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:55,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:25:55,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:25:55,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:55,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:25:55,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:25:55,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:55,677][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:25:55,688][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:25:55,699][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:55,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:25:55,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:25:55,731][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:55,742][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:25:55,742][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 22:25:55,742][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 22:25:55,742][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:25:55,797][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 22:25:55,851][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 22:25:55,906][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 22:25:55,959][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 22:25:56,013][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 22:25:56,067][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-24 22:25:56,120][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 22:25:56,120][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 22:25:56,121][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:25:56,121][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:25:56,131][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:25:56,137][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:25:56,143][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:25:56,149][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:25:56,155][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:25:56,161][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:25:56,168][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:25:56,174][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=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, 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 22:25:56,174][root][INFO] - current_pos: [-0.017357137407492118, -0.0001907377737087046, 0.0024795910582131597, 0.0005722133211261138, -0.012779430838483208, 0.20542458228427485, -0.0013351644159609322] +[2026-09-24 22:25:56,174][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:25:56,174][root][INFO] - starting separate thread for control loop +[2026-09-24 22:25:56,275][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=-0.017357137407492118, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790259956.2751586), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259956.2751586), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=31.0, timestamp=1790259956.2751586), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=32.0, timestamp=1790259956.2751586), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.012779430838483208, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790259956.2751586), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.20542458228427485, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259956.2751586), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0013351644159609322, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259956.2751586)] +[2026-09-24 22:25:56,275][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:25:56,275][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013 +[2026-09-24 22:25:56,275][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:25:56,898][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-24 22:25:57,198][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:25:57,826][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 22:25:58,127][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174639479) +[2026-09-24 22:25:58,127][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00743877] +[2026-09-24 22:25:58,363][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-24 22:25:58,364][root][INFO] - initializing, .... +[2026-09-24 22:25:58,364][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 22:25:58,364][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:25:58,364][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:25:58,364][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:25:58,364][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:25:58,364][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:25:58,364][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:25:58,364][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:25:58,364][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:25:58,364][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:25:58,364][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:25:58,364][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 22:25:58,364][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 22:25:58,365][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:25:58,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:25:58,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:58,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:25:58,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:25:58,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:58,429][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:25:58,440][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:25:58,451][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:58,462][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:25:58,472][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:25:58,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:58,494][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:25:58,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:25:58,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:58,526][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:25:58,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:25:58,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:58,558][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:25:58,569][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:25:58,580][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:25:58,591][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:25:58,591][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 22:25:58,591][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 22:25:58,591][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:25:58,644][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 22:25:58,698][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 22:25:58,752][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 22:25:58,806][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 22:25:58,859][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 22:25:58,913][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 22:25:58,966][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 22:25:58,966][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 22:25:58,967][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:25:58,967][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:25:58,977][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:25:58,983][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:25:58,988][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:25:58,994][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:25:59,000][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:25:59,006][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:25:59,013][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:25:59,019][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=-0.0073260073260073, 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 22:25:59,019][root][INFO] - current_pos: [-0.04329747463187594, -0.0013351644159609322, 0.000953688868543523, 0.0020981155107957505, -0.042534523537041125, -0.08945601586938245, 0.010490577553978753] +[2026-09-24 22:25:59,019][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:25:59,019][root][INFO] - starting separate thread for control loop +[2026-09-24 22:25:59,120][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=-0.04329747463187594, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790259959.1200233), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1790259959.1200233), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=28.0, timestamp=1790259959.1200233), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=33.0, timestamp=1790259959.1200233), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.042534523537041125, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1790259959.1200233), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.08945601586938245, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259959.1200233), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.010490577553978753, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790259959.1200233)] +[2026-09-24 22:25:59,120][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:25:59,120][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0105 +[2026-09-24 22:25:59,120][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:25:59,737][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 22:26:00,037][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:26:00,660][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-24 22:26:00,960][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.26531624322881, -0.01087205310139261) +[2026-09-24 22:26:00,960][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26531624 -0.01087205] +[2026-09-24 22:26:01,086][root][INFO] - initializing, .... +[2026-09-24 22:26:08,367][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.45 Hz +[2026-09-24 22:26:11,089][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 22:26:18,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.81 Hz +[2026-09-24 22:26:21,092][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 22:26:26,178][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.24 iterations per second over 30.00 seconds. +[2026-09-24 22:26:26,178][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003798 s, max step_time: 0.079171 s +[2026-09-24 22:26:28,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.06 Hz +[2026-09-24 22:26:29,022][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.31 iterations per second over 30.00 seconds. +[2026-09-24 22:26:29,022][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003841 s, max step_time: 0.078478 s +[2026-09-24 22:26:31,095][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.82 Hz +[2026-09-24 22:26:38,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.78 Hz +[2026-09-24 22:26:41,096][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 22:26:48,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.99 Hz +[2026-09-24 22:26:51,098][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 22:26:56,179][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.93 iterations per second over 30.00 seconds. +[2026-09-24 22:26:58,379][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.95 Hz +[2026-09-24 22:26:59,025][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.64 iterations per second over 30.00 seconds. +[2026-09-24 22:26:59,025][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003837 s, max step_time: 0.007432 s +[2026-09-24 22:27:01,102][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.59 Hz +[2026-09-24 22:27:06,798][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003829 s, max step_time: 0.007048 s +[2026-09-24 22:27:08,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.32 Hz +[2026-09-24 22:27:11,106][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.25 Hz +[2026-09-24 22:27:12,519][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 22:27:12,519][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 22:27:18,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.25 Hz +[2026-09-24 22:27:21,108][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.01 Hz +[2026-09-24 22:27:26,183][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.70 iterations per second over 30.00 seconds. +[2026-09-24 22:27:28,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.44 Hz +[2026-09-24 22:27:29,027][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.38 iterations per second over 30.00 seconds. +[2026-09-24 22:27:29,028][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003870 s, max step_time: 0.013964 s +[2026-09-24 22:27:31,108][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.07 Hz +[2026-09-24 22:27:36,802][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003869 s, max step_time: 0.013594 s +[2026-09-24 22:27:38,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.24 Hz +[2026-09-24 22:27:41,110][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.76 Hz +[2026-09-24 22:27:48,391][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 22:27:51,110][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.20 Hz +[2026-09-24 22:27:56,185][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.05 iterations per second over 30.00 seconds. +[2026-09-24 22:27:58,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.46 Hz +[2026-09-24 22:27:59,029][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.29 iterations per second over 30.00 seconds. +[2026-09-24 22:27:59,029][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003842 s, max step_time: 0.007443 s +[2026-09-24 22:28:01,113][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.13 Hz +[2026-09-24 22:28:08,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.73 Hz +[2026-09-24 22:28:09,000][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003841 s, max step_time: 0.007957 s +[2026-09-24 22:28:11,116][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.62 Hz +[2026-09-24 22:28:18,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.04 Hz +[2026-09-24 22:28:21,119][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.73 Hz +[2026-09-24 22:28:26,189][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.02 iterations per second over 30.00 seconds. +[2026-09-24 22:28:28,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.81 Hz +[2026-09-24 22:28:29,031][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.95 iterations per second over 30.00 seconds. +[2026-09-24 22:28:29,031][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003907 s, max step_time: 0.007762 s +[2026-09-24 22:28:30,656][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 22:28:30,656][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 22:28:31,122][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.62 Hz +[2026-09-24 22:28:38,404][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.55 Hz +[2026-09-24 22:28:39,002][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003887 s, max step_time: 0.018831 s +[2026-09-24 22:28:41,124][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.54 Hz +[2026-09-24 22:28:48,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.14 Hz +[2026-09-24 22:28:51,128][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.21 Hz +[2026-09-24 22:28:56,192][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 264.71 iterations per second over 30.00 seconds. +[2026-09-24 22:28:58,407][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.15 Hz +[2026-09-24 22:28:59,031][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 266.17 iterations per second over 30.00 seconds. +[2026-09-24 22:28:59,031][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003757 s, max step_time: 0.012769 s +[2026-09-24 22:29:01,130][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.23 Hz +[2026-09-24 22:29:08,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.13 Hz +[2026-09-24 22:29:09,005][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003711 s, max step_time: 0.007099 s +[2026-09-24 22:29:11,131][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.46 Hz +[2026-09-24 22:29:18,415][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.21 Hz +[2026-09-24 22:29:21,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.84 Hz +[2026-09-24 22:29:26,196][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.44 iterations per second over 30.00 seconds. +[2026-09-24 22:29:28,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.76 Hz +[2026-09-24 22:29:29,032][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.99 iterations per second over 30.00 seconds. +[2026-09-24 22:29:31,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.30 Hz +[2026-09-24 22:29:35,346][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.90 iterations per second over 6.31 seconds. +[2026-09-24 22:29:35,351][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.55 iterations per second over 9.16 seconds. +[2026-09-24 22:29:37,612][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 22:29:37,613][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 22:29:37,613][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 22:29:37,613][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 22:29:37,613][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 22:29:37,613][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 22:29:37,613][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 22:29:37,613][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 22:29:37,614][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 22:29:37,614][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 22:29:37,614][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 22:29:37,615][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 22:29:37,615][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 22:29:37,615][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 22:29:37,615][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 22:29:37,615][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 22:29:37,615][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 22:29:37,615][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-24 22:29:37,615][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:29:37,616][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:29:37,616][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:29:37,616][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:29:37,616][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:29:37,616][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:29:37,616][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:29:37,616][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:29:37,616][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:29:37,616][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:29:37,616][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 22:29:37,616][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 22:29:37,617][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:29:37,629][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:29:37,640][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 22:29:37,651][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:29:37,662][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:29:37,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:37,684][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:29:37,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:29:37,706][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:37,717][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:29:37,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:29:37,739][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:37,749][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:29:37,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:29:37,771][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:37,782][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:29:37,793][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:29:37,804][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:37,815][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:29:37,826][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:29:37,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:37,848][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:29:37,848][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 22:29:37,848][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 22:29:37,848][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:29:37,902][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 22:29:37,956][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 22:29:38,010][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 22:29:38,064][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 22:29:38,118][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 22:29:38,172][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 22:29:38,226][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 22:29:38,227][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 22:29:38,227][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:29:38,227][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:29:38,238][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:29:38,243][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:29:38,249][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:29:38,256][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:29:38,262][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:29:38,268][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:29:38,274][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:29:38,280][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=-0.0073260073260073, 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 22:29:38,280][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, -0.0001907377737087046, 0.08564126039520836, -0.0024795910582131597] +[2026-09-24 22:29:38,280][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:29:38,280][root][INFO] - starting separate thread for control loop +[2026-09-24 22:29:38,381][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=-0.0040054932478827965, voltage=-1, temp_mos=24.0, temp_rotor=22.0, timestamp=1790260178.3810487), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260178.3810487), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=32.0, timestamp=1790260178.3810487), 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=1790260178.3810487), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260178.3810487), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.08564126039520836, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1790260178.3810487), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0024795910582131597, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260178.3810487)] +[2026-09-24 22:29:38,381][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:29:38,381][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0025 +[2026-09-24 22:29:38,381][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:29:39,006][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-24 22:29:39,306][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:29:39,934][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 22:29:40,234][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032) +[2026-09-24 22:29:40,234][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-24 22:29:40,480][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 22:29:40,480][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 22:29:40,480][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:29:40,480][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:29:40,480][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:29:40,480][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:29:40,480][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:29:40,480][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:29:40,480][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:29:40,480][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:29:40,480][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:29:40,480][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:29:40,480][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 22:29:40,480][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 22:29:40,480][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:29:40,480][root][INFO] - initializing, .... +[2026-09-24 22:29:40,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:29:40,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:40,513][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:29:40,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:29:40,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:40,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:29:40,556][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:29:40,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:40,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:29:40,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:29:40,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:40,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:29:40,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:29:40,631][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:40,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:29:40,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:29:40,663][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:40,674][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:29:40,685][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:29:40,696][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:29:40,707][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:29:40,707][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 22:29:40,707][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 22:29:40,707][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:29:40,761][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 22:29:40,814][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 22:29:40,868][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 22:29:40,921][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 22:29:40,975][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 22:29:41,028][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 22:29:41,082][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 22:29:41,082][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 22:29:41,082][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:29:41,082][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:29:41,093][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:29:41,098][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:29:41,104][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:29:41,110][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:29:41,116][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:29:41,122][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:29:41,128][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:29:41,134][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-24 22:29:41,134][root][INFO] - current_pos: [0.002861066605630569, -0.0020981155107957505, 0.000953688868543523, 0.000953688868543523, -0.022697795071335847, 0.051689936675058945, -0.0040054932478827965] +[2026-09-24 22:29:41,134][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:29:41,134][root][INFO] - starting separate thread for control loop +[2026-09-24 22:29:41,234][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.002861066605630569, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260181.2348611), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=25.0, temp_rotor=25.0, timestamp=1790260181.2348611), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=28.0, timestamp=1790260181.2348611), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=34.0, timestamp=1790260181.2348611), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.022316319523914885, voltage=-1, temp_mos=26.0, temp_rotor=26.0, timestamp=1790260181.2348611), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.051689936675058945, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1790260181.2348611), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.0040054932478827965, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260181.2348611)] +[2026-09-24 22:29:41,234][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:29:41,235][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0040 +[2026-09-24 22:29:41,235][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:29:41,914][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 22:29:42,214][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:29:42,839][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-24 22:29:43,139][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.01087205310139261) +[2026-09-24 22:29:43,139][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.01087205] +[2026-09-24 22:29:43,263][root][INFO] - initializing, .... +[2026-09-24 22:29:50,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 267.02 Hz +[2026-09-24 22:29:53,266][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.87 Hz +[2026-09-24 22:30:00,488][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.15 Hz +[2026-09-24 22:30:00,681][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 22:30:00,681][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 22:30:03,270][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.63 Hz +[2026-09-24 22:30:08,281][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.33 iterations per second over 30.00 seconds. +[2026-09-24 22:30:08,281][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003841 s, max step_time: 0.067252 s +[2026-09-24 22:30:10,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.14 Hz +[2026-09-24 22:30:11,135][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.63 iterations per second over 30.00 seconds. +[2026-09-24 22:30:11,135][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003881 s, max step_time: 0.067427 s +[2026-09-24 22:30:13,272][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.93 Hz +[2026-09-24 22:30:20,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.06 Hz +[2026-09-24 22:30:23,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.41 Hz +[2026-09-24 22:30:30,494][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.43 Hz +[2026-09-24 22:30:33,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.48 Hz +[2026-09-24 22:30:38,285][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.47 iterations per second over 30.00 seconds. +[2026-09-24 22:30:38,285][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: 0.007270 s +[2026-09-24 22:30:40,494][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.39 Hz +[2026-09-24 22:30:41,138][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.47 iterations per second over 30.00 seconds. +[2026-09-24 22:30:43,279][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.62 Hz +[2026-09-24 22:30:50,496][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 22:30:53,282][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.82 Hz +[2026-09-24 22:30:59,268][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003877 s, max step_time: 0.007151 s +[2026-09-24 22:30:59,280][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 22:30:59,280][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 22:31:00,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.33 Hz +[2026-09-24 22:31:03,282][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.39 Hz +[2026-09-24 22:31:08,285][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.93 iterations per second over 30.00 seconds. +[2026-09-24 22:31:08,285][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003892 s, max step_time: 0.010933 s +[2026-09-24 22:31:08,552][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.61 iterations per second over 27.41 seconds. +[2026-09-24 22:31:08,561][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 272.03 iterations per second over 0.28 seconds. +[2026-09-24 22:32:22,467][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 22:32:22,469][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 22:32:22,469][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 22:32:22,469][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 22:32:22,469][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 22:32:22,469][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 22:32:22,469][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 22:32:22,469][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 22:32:22,469][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-24 22:32:22,470][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 22:32:22,470][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 22:32:22,470][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 22:32:22,470][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 22:32:22,470][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 22:32:22,470][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 22:32:22,470][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-24 22:32:22,471][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 22:32:22,471][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-24 22:32:22,471][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:32:22,471][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:32:22,471][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:32:22,471][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:32:22,471][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:32:22,471][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:32:22,471][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:32:22,471][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:32:22,471][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:32:22,471][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:32:22,471][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 22:32:22,471][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-24 22:32:22,472][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:32:22,484][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:32:22,495][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 22:32:22,506][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:32:22,517][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:32:22,528][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:22,540][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:32:22,551][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:32:22,562][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:22,574][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:32:22,585][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:32:22,596][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:22,607][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:32:22,618][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:32:22,629][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:22,640][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:32:22,651][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:32:22,662][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:22,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:32:22,684][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:32:22,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:22,707][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:32:22,707][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-24 22:32:22,707][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 22:32:22,707][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:32:22,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-24 22:32:22,815][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 22:32:22,869][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 22:32:22,923][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 22:32:22,976][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 22:32:23,030][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 22:32:23,084][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 22:32:23,084][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 22:32:23,085][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:32:23,085][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:32:23,096][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:32:23,101][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:32:23,107][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:32:23,113][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:32:23,119][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:32:23,125][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:32:23,131][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:32:23,137][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-24 22:32:23,137][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, 0.0017166399633783413, 0.08564126039520836, 0.01583123521782248] +[2026-09-24 22:32:23,137][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:32:23,137][root][INFO] - starting separate thread for control loop +[2026-09-24 22:32:23,238][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.0040054932478827965, voltage=-1, temp_mos=25.0, temp_rotor=22.0, timestamp=1790260343.2381117), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260343.2381117), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=29.0, timestamp=1790260343.2381117), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1790260343.2381117), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.0017166399633783413, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260343.2381117), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.08564126039520836, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260343.2381117), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.01583123521782248, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260343.2381117)] +[2026-09-24 22:32:23,238][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:32:23,238][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-24 22:32:23,238][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:32:23,858][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695 +[2026-09-24 22:32:24,158][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:32:24,784][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 22:32:25,085][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032) +[2026-09-24 22:32:25,085][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-24 22:32:25,327][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 22:32:25,328][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 22:32:25,328][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:32:25,328][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:32:25,328][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:32:25,328][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:32:25,328][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:32:25,328][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:32:25,328][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:32:25,328][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:32:25,328][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:32:25,328][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:32:25,328][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 22:32:25,328][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 22:32:25,328][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:32:25,330][root][INFO] - initializing, .... +[2026-09-24 22:32:25,339][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:32:25,350][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:25,360][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:32:25,371][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:32:25,382][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:25,393][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:32:25,404][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:32:25,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:25,425][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:32:25,436][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:32:25,447][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:25,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:32:25,469][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:32:25,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:25,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:32:25,501][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:32:25,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:25,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:32:25,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:32:25,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:32:25,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:32:25,555][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 22:32:25,555][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 22:32:25,555][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:32:25,609][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 22:32:25,662][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 22:32:25,716][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 22:32:25,770][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 22:32:25,824][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 22:32:25,877][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 22:32:25,931][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 22:32:25,931][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 22:32:25,931][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:32:25,931][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:32:25,942][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:32:25,947][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:32:25,953][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:32:25,959][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:32:25,965][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:32:25,971][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:32:25,978][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:32:25,984][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=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-24 22:32:25,984][root][INFO] - current_pos: [-0.010490577553978753, -0.0020981155107957505, 0.02536812390325771, -0.05245288776989376, -0.0455863279163804, -0.06275272755016381, 0.2504386968795309] +[2026-09-24 22:32:25,984][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:32:25,984][root][INFO] - starting separate thread for control loop +[2026-09-24 22:32:26,085][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.010490577553978753, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260346.0852196), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260346.0852196), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=0.024986648355840302, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1790260346.0852196), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.05245288776989376, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790260346.0852196), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.045967803463794255, voltage=-1, temp_mos=26.0, temp_rotor=26.0, timestamp=1790260346.0852196), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.06275272755016381, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260346.0852196), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.2504386968795309, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1790260346.0852196)] +[2026-09-24 22:32:26,085][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:32:26,085][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.2504 +[2026-09-24 22:32:26,085][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:32:26,711][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 22:32:27,011][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:32:27,639][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-24 22:32:27,939][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.011253528648817124) +[2026-09-24 22:32:27,940][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.01125353] +[2026-09-24 22:32:28,067][root][INFO] - initializing, .... +[2026-09-24 22:32:35,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.52 Hz +[2026-09-24 22:32:38,068][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 22:32:45,335][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.55 Hz +[2026-09-24 22:32:48,071][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.72 Hz +[2026-09-24 22:32:53,141][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.37 iterations per second over 30.00 seconds. +[2026-09-24 22:32:53,142][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003797 s, max step_time: 0.074375 s +[2026-09-24 22:32:55,337][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.63 Hz +[2026-09-24 22:32:55,987][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.18 iterations per second over 30.00 seconds. +[2026-09-24 22:32:55,988][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003828 s, max step_time: 0.075240 s +[2026-09-24 22:32:58,075][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.13 Hz +[2026-09-24 22:33:05,337][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.99 Hz +[2026-09-24 22:33:08,076][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.46 Hz +[2026-09-24 22:33:15,339][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.94 Hz +[2026-09-24 22:33:18,080][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.79 Hz +[2026-09-24 22:33:23,142][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.86 iterations per second over 30.00 seconds. +[2026-09-24 22:33:23,146][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: 0.007065 s +[2026-09-24 22:33:25,341][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.06 Hz +[2026-09-24 22:33:25,990][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.34 iterations per second over 30.00 seconds. +[2026-09-24 22:33:25,990][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003856 s, max step_time: 0.008008 s +[2026-09-24 22:33:28,082][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 22:33:35,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.14 Hz +[2026-09-24 22:33:38,082][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.98 Hz +[2026-09-24 22:33:45,344][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.37 Hz +[2026-09-24 22:33:48,087][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 22:33:53,143][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.59 iterations per second over 30.00 seconds. +[2026-09-24 22:33:55,348][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 22:33:55,994][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.87 iterations per second over 30.00 seconds. +[2026-09-24 22:33:57,373][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: 0.007200 s +[2026-09-24 22:33:58,088][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.54 Hz +[2026-09-24 22:34:05,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.05 Hz +[2026-09-24 22:34:08,091][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.54 Hz +[2026-09-24 22:34:15,355][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.71 Hz +[2026-09-24 22:34:18,094][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.61 Hz +[2026-09-24 22:34:20,063][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: 0.008781 s +[2026-09-24 22:34:23,147][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.70 iterations per second over 30.00 seconds. +[2026-09-24 22:34:25,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.40 Hz +[2026-09-24 22:34:25,996][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.54 iterations per second over 30.00 seconds. +[2026-09-24 22:34:27,374][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003904 s, max step_time: 0.007702 s +[2026-09-24 22:34:28,097][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.81 Hz +[2026-09-24 22:34:35,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.72 Hz +[2026-09-24 22:34:38,100][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.48 Hz +[2026-09-24 22:34:45,363][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.45 Hz +[2026-09-24 22:34:47,751][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 22:34:47,751][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 22:34:48,101][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.14 Hz +[2026-09-24 22:34:50,067][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.004028 s, max step_time: 0.029030 s +[2026-09-24 22:34:53,150][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.41 iterations per second over 30.00 seconds. +[2026-09-24 22:34:55,365][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.62 Hz +[2026-09-24 22:34:56,000][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.50 iterations per second over 30.00 seconds. +[2026-09-24 22:34:57,377][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003997 s, max step_time: 0.036141 s +[2026-09-24 22:34:58,103][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.05 Hz +[2026-09-24 22:35:05,369][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.31 Hz +[2026-09-24 22:35:08,106][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.51 Hz +[2026-09-24 22:35:15,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.06 Hz +[2026-09-24 22:35:18,106][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.49 Hz +[2026-09-24 22:35:20,068][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: 0.007596 s +[2026-09-24 22:35:23,151][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.86 iterations per second over 30.00 seconds. +[2026-09-24 22:35:25,374][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.82 Hz +[2026-09-24 22:35:26,002][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.15 iterations per second over 30.00 seconds. +[2026-09-24 22:35:27,380][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003855 s, max step_time: 0.008780 s +[2026-09-24 22:35:28,110][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.12 Hz +[2026-09-24 22:35:31,701][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 22:35:31,702][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 22:35:35,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.29 Hz +[2026-09-24 22:35:38,111][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.69 Hz +[2026-09-24 22:35:45,374][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.79 Hz +[2026-09-24 22:35:48,112][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.75 Hz +[2026-09-24 22:35:50,070][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003891 s, max step_time: 0.013301 s +[2026-09-24 22:35:53,151][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.40 iterations per second over 30.00 seconds. +[2026-09-24 22:35:55,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.73 Hz +[2026-09-24 22:35:56,002][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.43 iterations per second over 30.00 seconds. +[2026-09-24 22:35:57,383][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003874 s, max step_time: 0.010932 s +[2026-09-24 22:35:58,114][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.94 Hz +[2026-09-24 22:36:05,378][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.05 Hz +[2026-09-24 22:36:08,116][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.27 Hz +[2026-09-24 22:36:15,380][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 22:36:18,118][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.14 Hz +[2026-09-24 22:36:23,152][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.29 iterations per second over 30.00 seconds. +[2026-09-24 22:36:25,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.80 Hz +[2026-09-24 22:36:26,004][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.75 iterations per second over 30.00 seconds. +[2026-09-24 22:36:28,120][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.15 Hz +[2026-09-24 22:36:30,501][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003855 s, max step_time: 0.007305 s +[2026-09-24 22:36:31,489][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003846 s, max step_time: 0.007006 s +[2026-09-24 22:36:35,385][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.56 Hz +[2026-09-24 22:36:38,122][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.54 Hz +[2026-09-24 22:36:39,141][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-24 22:36:39,180][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 22:36:45,388][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.92 Hz +[2026-09-24 22:36:48,123][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.26 Hz +[2026-09-24 22:36:53,156][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.94 iterations per second over 30.00 seconds. +[2026-09-24 22:36:55,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.22 Hz +[2026-09-24 22:36:56,007][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.38 iterations per second over 30.00 seconds. +[2026-09-24 22:36:58,126][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.28 Hz +[2026-09-24 22:37:00,502][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003913 s, max step_time: 0.018103 s +[2026-09-24 22:37:01,489][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003906 s, max step_time: 0.018223 s +[2026-09-24 22:37:05,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.53 Hz +[2026-09-24 22:37:08,131][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 22:37:15,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.50 Hz +[2026-09-24 22:37:18,129][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.97 Hz +[2026-09-24 22:37:23,159][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.44 iterations per second over 30.00 seconds. +[2026-09-24 22:37:25,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.93 Hz +[2026-09-24 22:37:26,010][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.14 iterations per second over 30.00 seconds. +[2026-09-24 22:37:28,135][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.99 Hz +[2026-09-24 22:37:30,505][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 41 times, mean step_time: 0.003863 s, max step_time: 0.010907 s +[2026-09-24 22:37:31,491][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003853 s, max step_time: 0.016230 s +[2026-09-24 22:37:35,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.48 Hz +[2026-09-24 22:37:38,134][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 22:37:45,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.07 Hz +[2026-09-24 22:37:48,137][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.19 Hz +[2026-09-24 22:37:53,162][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.11 iterations per second over 30.00 seconds. +[2026-09-24 22:37:55,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.65 Hz +[2026-09-24 22:37:56,015][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.02 iterations per second over 30.00 seconds. +[2026-09-24 22:37:58,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.10 Hz +[2026-09-24 22:38:00,507][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003873 s, max step_time: 0.010073 s +[2026-09-24 22:38:01,493][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003860 s, max step_time: 0.010691 s +[2026-09-24 22:38:05,404][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 22:38:07,440][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.21 iterations per second over 11.42 seconds. +[2026-09-24 22:38:07,448][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.79 iterations per second over 14.29 seconds. +[2026-09-24 22:38:24,538][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-24 22:38:24,540][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-24 22:38:24,540][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-24 22:38:24,540][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-24 22:38:24,540][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-24 22:38:24,540][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-24 22:38:24,540][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-24 22:38:24,540][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-24 22:38:24,540][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 22:38:24,541][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-24 22:38:24,541][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-24 22:38:24,541][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-24 22:38:24,541][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-24 22:38:24,541][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-24 22:38:24,541][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-24 22:38:24,541][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 22:38:24,542][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 22:38:24,542][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 22:38:24,542][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:38:24,542][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:38:24,542][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:38:24,542][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:38:24,542][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:38:24,542][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:38:24,542][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:38:24,542][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:38:24,542][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:38:24,542][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:38:24,542][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-24 22:38:24,542][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 22:38:24,543][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:38:24,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:38:24,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-24 22:38:24,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:38:24,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:38:24,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:24,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:38:24,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:38:24,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:24,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:38:24,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:38:24,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:24,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:38:24,685][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:38:24,696][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:24,707][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:38:24,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:38:24,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:24,739][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:38:24,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:38:24,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:24,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:38:24,772][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-24 22:38:24,772][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 22:38:24,772][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:38:24,826][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 22:38:24,880][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 22:38:24,934][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 22:38:24,988][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 22:38:25,042][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 22:38:25,096][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 22:38:25,150][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 22:38:25,150][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 22:38:25,150][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:38:25,150][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:38:25,161][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:38:25,166][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:38:25,172][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:38:25,178][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:38:25,184][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:38:25,190][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:38:25,196][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:38:25,202][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=-0.0073260073260073, 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 22:38:25,202][root][INFO] - current_pos: [-0.018120088502326936, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, -0.0017166399633783413, 0.06313420309758122, 0.01583123521782248] +[2026-09-24 22:38:25,202][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:38:25,202][root][INFO] - starting separate thread for control loop +[2026-09-24 22:38:25,303][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=-0.018120088502326936, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260705.3030305), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260705.3030305), 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=32.0, timestamp=1790260705.3030305), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=32.0, timestamp=1790260705.3030305), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.0017166399633783413, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790260705.3030305), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.06313420309758122, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260705.3030305), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260705.3030305)] +[2026-09-24 22:38:25,303][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:38:25,303][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0154 +[2026-09-24 22:38:25,303][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:38:25,983][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-24 22:38:26,283][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:38:26,911][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-24 22:38:27,212][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174643032) +[2026-09-24 22:38:27,212][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00743877] +[2026-09-24 22:38:27,455][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 22:38:27,455][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 22:38:27,455][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-24 22:38:27,455][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-24 22:38:27,455][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-24 22:38:27,455][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-24 22:38:27,455][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-24 22:38:27,455][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-24 22:38:27,455][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-24 22:38:27,455][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-24 22:38:27,455][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-24 22:38:27,455][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-24 22:38:27,455][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-24 22:38:27,455][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 22:38:27,455][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:38:27,458][root][INFO] - initializing, .... +[2026-09-24 22:38:27,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-24 22:38:27,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:27,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:38:27,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-24 22:38:27,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:27,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:38:27,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-24 22:38:27,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:27,556][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-24 22:38:27,568][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-24 22:38:27,579][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:27,590][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:38:27,600][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-24 22:38:27,611][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:27,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:38:27,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-24 22:38:27,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:27,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:38:27,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-24 22:38:27,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-24 22:38:27,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-24 22:38:27,687][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-24 22:38:27,687][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 22:38:27,687][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:38:27,741][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 22:38:27,795][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 22:38:27,848][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 22:38:27,902][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 22:38:27,956][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 22:38:28,010][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 22:38:28,063][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 22:38:28,063][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 22:38:28,064][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-24 22:38:28,064][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-24 22:38:28,074][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-24 22:38:28,080][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-24 22:38:28,086][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-24 22:38:28,092][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-24 22:38:28,098][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-24 22:38:28,105][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-24 22:38:28,112][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-24 22:38:28,118][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=-0.012210012210012167, 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 22:38:28,119][root][INFO] - current_pos: [-0.05550469214923304, -0.0013351644159609322, 0.0005722133211261138, 0.000953688868543523, 0.002861066605630569, -0.051689936675058945, 0.2870603494316022] +[2026-09-24 22:38:28,119][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-24 22:38:28,119][root][INFO] - starting separate thread for control loop +[2026-09-24 22:38:28,220][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=-0.05550469214923304, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1790260708.2199888), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1790260708.2199888), 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=28.0, timestamp=1790260708.2199888), 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=32.0, timestamp=1790260708.2199888), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=0.002861066605630569, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790260708.2199888), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.051689936675058945, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790260708.2199888), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.2870603494316022, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1790260708.2199888)] +[2026-09-24 22:38:28,220][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-24 22:38:28,220][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.2871 +[2026-09-24 22:38:28,220][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-24 22:38:28,882][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-24 22:38:29,182][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-24 22:38:29,802][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-24 22:38:30,102][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.277904936293584, -0.010872053101396162) +[2026-09-24 22:38:30,102][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27790494 -0.01087205] +[2026-09-24 22:38:30,226][root][INFO] - initializing, .... +[2026-09-24 22:38:37,459][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.55 Hz +[2026-09-24 22:38:40,233][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.10 Hz +[2026-09-24 22:38:43,812][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 22:38:43,812][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 22:38:47,463][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.72 Hz +[2026-09-24 22:38:49,503][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.44 iterations per second over 21.38 seconds. +[2026-09-24 22:38:49,509][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.57 iterations per second over 24.31 seconds. diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/runtime/output.lock b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391