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"robot.robot_state": 1698 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017", + "failure": "", + "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", + "round_number": 17, + "run_id": "20260925_025305_495514_round_0017", + "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": 1790276010.3258634 + } +} diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/manifests/event.json b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/manifests/event.json new file mode 100644 index 0000000000000000000000000000000000000000..1bf5ac467ae253fb193d1be3aeb240fa70282405 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/manifests/event.json @@ -0,0 +1,28 @@ +{ + "prometheus_event_recorder": { + "counts": { + "action.executed": 410, + "camera.base_0_rgb": 424, + "camera.left_wrist_0_rgb": 425, + "camera.right_wrist_0_rgb": 425, + "dropped": 0, + "event.workflow": 1, + "items": 3383, + "robot.robot_state": 1698 + }, + "episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017", + "event_samples": 1, + "failure": "", + "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", + "round_number": 17, + "run_id": "20260925_025305_495514_round_0017", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_event_recorder", + "record_mode": "event", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1790276010.3258634 + } +} diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/manifests/robot.json b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..bacfcaaf9e160899de8ec38d4c6a93402fdd321f --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/manifests/robot.json @@ -0,0 +1,37 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 410, + "camera.base_0_rgb": 424, + "camera.left_wrist_0_rgb": 425, + "camera.right_wrist_0_rgb": 425, + "dropped": 0, + "event.workflow": 1, + "items": 3383, + "robot.robot_state": 1698 + }, + "episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017", + "failure": "", + "incomplete_robot_samples": { + "left": 1698, + "right": 1698 + }, + "metadata": { + "purpose": "continuous cameras and robot state; retain failed/interrupted runs", + "round_number": 17, + "run_id": "20260925_025305_495514_round_0017", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 1698, + "right": 1698 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1790276010.3258634 + } +} diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/manifests/tactile.json b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra/.hydra/config.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..718cfd64d35a7a4e6d88e754d3b7f57849392eb8 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,238 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the right arm to pick up the apple and place it in the bowl. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.40147251009941104 + - 0.618776296377182 + - 0.5956588095426559 + - 0.4531014055013657 + - 1.0002136100828647 + - 1.5542610847949982 + - 0.13904411427676677 + - 0.53632409773767 + - 0.711245882511139 + - 0.9085143971443176 + - 0.6218586921691894 + - 2.1306553721427917 + - 0.9146791793219745 + - 0.14422834947705268 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0966e2a9eb788e210cfaa0c4f67ac1cdc253a2b6 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/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 right arm to pick up the apple and place it in the bowl." + - run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use + the right arm to pick up the apple and place it in the bowl.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple,run.steps=40 + id: ??? + num: ??? + config_name: openpi_pi0_gesim_v3_four_tasks_5000 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..743ff971498fb09d859f3b273f6a81b949445a21 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/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 right arm to pick up the apple and place it in the bowl." +- run.output_dir=outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..86e9d987969c817ae21db75b4e0db46b7d251ac9 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/hydra/openpi_rollout.log @@ -0,0 +1,1981 @@ +[2026-09-25 02:32:43,483][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 02:32:43,485][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 02:32:43,485][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 02:32:43,485][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 02:32:43,485][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 02:32:43,485][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 02:32:43,485][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 02:32:43,485][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 02:32:43,485][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 02:32:43,486][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 02:32:43,486][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 02:32:43,486][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 02:32:43,486][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 02:32:43,486][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 02:32:43,486][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 02:32:43,486][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 02:32:43,487][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 02:32:43,487][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 02:32:43,487][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:32:43,487][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:32:43,487][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:32:43,487][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:32:43,487][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:32:43,487][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:32:43,487][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:32:43,487][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:32:43,487][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:32:43,487][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:32:43,487][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 02:32:43,487][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 02:32:43,488][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:32:43,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:32:43,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 02:32:43,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:32:43,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:32:43,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:43,556][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:32:43,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:32:43,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:43,589][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:32:43,601][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:32:43,612][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:43,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:32:43,634][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:32:43,645][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:43,656][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:32:43,668][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:32:43,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:43,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:32:43,702][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:32:43,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:43,724][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:32:43,724][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-25 02:32:43,724][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 02:32:43,724][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:32:43,780][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 02:32:43,835][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 02:32:43,890][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 02:32:43,945][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 02:32:44,001][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 02:32:44,056][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 02:32:44,112][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 02:32:44,112][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 02:32:44,112][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:32:44,112][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:32:44,123][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:32:44,129][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:32:44,135][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:32:44,142][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:32:44,148][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:32:44,154][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:32:44,160][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:32:44,167][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-25 02:32:44,167][root][INFO] - current_pos: [-0.023842221713588074, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0013351644159609322, -0.10929274433508773, -0.002861066605630569] +[2026-09-25 02:32:44,167][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:32:44,167][root][INFO] - starting separate thread for control loop +[2026-09-25 02:32:44,268][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=-0.023842221713588074, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790274764.267881), 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=1790274764.267881), 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=31.0, timestamp=1790274764.267881), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1790274764.267881), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790274764.267881), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.10929274433508773, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790274764.267881), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.002861066605630569, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790274764.267881)] +[2026-09-25 02:32:44,268][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:32:44,268][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-25 02:32:44,268][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:32:44,899][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-25 02:32:45,199][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:32:45,829][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 02:32:46,129][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032) +[2026-09-25 02:32:46,130][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-25 02:32:46,367][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 02:32:46,368][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-25 02:32:46,368][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:32:46,368][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:32:46,368][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:32:46,368][root][INFO] - initializing, .... +[2026-09-25 02:32:46,368][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:32:46,368][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:32:46,368][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:32:46,368][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:32:46,368][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:32:46,368][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:32:46,368][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:32:46,368][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 02:32:46,368][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 02:32:46,369][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:32:46,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:32:46,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:46,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:32:46,414][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:32:46,425][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:46,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:32:46,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:32:46,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:46,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:32:46,482][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:32:46,493][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:46,504][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:32:46,515][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:32:46,526][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:46,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:32:46,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:32:46,559][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:46,570][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:32:46,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:32:46,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:32:46,603][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:32:46,603][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 02:32:46,603][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 02:32:46,604][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:32:46,659][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 02:32:46,715][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 02:32:46,769][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 02:32:46,823][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 02:32:46,876][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 02:32:46,930][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 02:32:46,983][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 02:32:46,983][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 02:32:46,984][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:32:46,984][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:32:46,994][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:32:46,999][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:32:47,005][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:32:47,011][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:32:47,017][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:32:47,023][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:32:47,031][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:32:47,037][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-25 02:32:47,037][root][INFO] - current_pos: [-0.07152666514076422, -0.0020981155107957505, 0.000953688868543523, 0.0017166399633783413, 0.002861066605630569, -0.08869306477454764, -0.000953688868543523] +[2026-09-25 02:32:47,037][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:32:47,037][root][INFO] - starting separate thread for control loop +[2026-09-25 02:32:47,138][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=0.006837606837606813, pos=-0.07114518959334326, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790274767.1382697), 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=1790274767.1382697), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790274767.1382697), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=32.0, temp_rotor=30.0, timestamp=1790274767.1382697), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.002861066605630569, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790274767.1382697), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.0890745403219686, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790274767.1382697), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790274767.1382697)] +[2026-09-25 02:32:47,138][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:32:47,138][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-25 02:32:47,138][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:32:47,768][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-25 02:32:48,068][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:32:48,690][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 02:32:48,990][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.256160830090792, -0.011635004196227428) +[2026-09-25 02:32:48,990][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25616083 -0.011635 ] +[2026-09-25 02:32:49,117][root][INFO] - initializing, .... +[2026-09-25 02:32:56,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.29 Hz +[2026-09-25 02:32:59,117][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.08 Hz +[2026-09-25 02:33:06,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.56 Hz +[2026-09-25 02:33:09,118][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.90 Hz +[2026-09-25 02:33:14,170][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.41 iterations per second over 30.00 seconds. +[2026-09-25 02:33:14,170][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003825 s, max step_time: 0.096487 s +[2026-09-25 02:33:16,375][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.53 Hz +[2026-09-25 02:33:17,038][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.66 iterations per second over 30.00 seconds. +[2026-09-25 02:33:17,039][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003881 s, max step_time: 0.098676 s +[2026-09-25 02:33:19,121][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.73 Hz +[2026-09-25 02:33:26,375][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.80 Hz +[2026-09-25 02:33:29,124][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.52 Hz +[2026-09-25 02:33:36,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.24 Hz +[2026-09-25 02:33:39,125][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.77 Hz +[2026-09-25 02:33:44,170][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.07 iterations per second over 30.00 seconds. +[2026-09-25 02:33:44,174][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003860 s, max step_time: 0.007305 s +[2026-09-25 02:33:46,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.19 Hz +[2026-09-25 02:33:47,041][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.11 iterations per second over 30.00 seconds. +[2026-09-25 02:33:49,128][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.62 Hz +[2026-09-25 02:33:56,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.64 Hz +[2026-09-25 02:33:59,131][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.23 Hz +[2026-09-25 02:34:06,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.15 Hz +[2026-09-25 02:34:09,132][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 +[2026-09-25 02:34:14,173][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.51 iterations per second over 30.00 seconds. +[2026-09-25 02:34:15,420][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: 0.007365 s +[2026-09-25 02:34:15,426][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003816 s, max step_time: 0.008980 s +[2026-09-25 02:34:16,393][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.45 Hz +[2026-09-25 02:34:17,047][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.62 iterations per second over 30.01 seconds. +[2026-09-25 02:34:19,135][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 217.55 Hz +[2026-09-25 02:34:26,388][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 203.20 Hz +[2026-09-25 02:34:29,138][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.45 Hz +[2026-09-25 02:34:29,334][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 221.12 iterations per second over 12.29 seconds. +[2026-09-25 02:34:29,343][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 220.49 iterations per second over 15.17 seconds. +[2026-09-25 02:34:36,319][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 02:34:36,320][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 02:34:36,320][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 02:34:36,320][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 02:34:36,320][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 02:34:36,320][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 02:34:36,320][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 02:34:36,320][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 02:34:36,321][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-25 02:34:36,321][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 02:34:36,322][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 02:34:36,322][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 02:34:36,322][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 02:34:36,322][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 02:34:36,322][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 02:34:36,322][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-25 02:34:36,322][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 02:34:36,322][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 02:34:36,322][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:34:36,322][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:34:36,322][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:34:36,322][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:34:36,322][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:34:36,322][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:34:36,322][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:34:36,322][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:34:36,322][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:34:36,322][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:34:36,322][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 02:34:36,322][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 02:34:36,323][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:34:36,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:34:36,346][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 02:34:36,357][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:34:36,368][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:34:36,379][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:36,390][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:34:36,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:34:36,412][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:36,423][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:34:36,434][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:34:36,445][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:36,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:34:36,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:34:36,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:36,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:34:36,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:34:36,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:36,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:34:36,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:34:36,543][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:36,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:34:36,554][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 02:34:36,554][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 02:34:36,554][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:34:36,608][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 02:34:36,662][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 02:34:36,716][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 02:34:36,770][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 02:34:36,824][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 02:34:36,878][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 02:34:36,932][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 02:34:36,932][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 02:34:36,932][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:34:36,932][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:34:36,943][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:34:36,948][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:34:36,954][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:34:36,960][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:34:36,966][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:34:36,972][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:34:36,978][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:34:36,984][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-25 02:34:36,984][root][INFO] - current_pos: [-0.023842221713588074, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0013351644159609322, -0.10929274433508773, -0.003242542153047978] +[2026-09-25 02:34:36,984][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:34:36,984][root][INFO] - starting separate thread for control loop +[2026-09-25 02:34:37,085][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.023842221713588074, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790274877.0853276), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790274877.0853276), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=32.0, temp_rotor=35.0, timestamp=1790274877.0853276), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1790274877.0853276), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790274877.0853276), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.10929274433508773, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790274877.0853276), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.00362401770046894, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790274877.0853276)] +[2026-09-25 02:34:37,085][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:34:37,085][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0036 +[2026-09-25 02:34:37,085][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:34:37,712][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-25 02:34:38,012][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:34:38,638][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 02:34:38,939][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032) +[2026-09-25 02:34:38,939][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-25 02:34:39,174][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 02:34:39,174][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 02:34:39,174][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:34:39,174][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:34:39,174][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:34:39,174][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:34:39,174][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:34:39,174][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:34:39,174][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:34:39,174][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:34:39,174][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:34:39,174][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:34:39,175][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 02:34:39,175][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 02:34:39,175][root][INFO] - initializing, .... +[2026-09-25 02:34:39,175][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:34:39,186][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:34:39,197][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:39,207][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:34:39,218][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:34:39,229][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:39,240][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:34:39,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:34:39,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:39,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:34:39,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:34:39,295][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:39,306][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:34:39,317][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:34:39,328][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:39,339][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:34:39,350][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:34:39,361][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:39,372][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:34:39,383][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:34:39,394][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:34:39,405][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:34:39,405][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 02:34:39,405][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 02:34:39,405][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:34:39,459][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 02:34:39,512][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 02:34:39,566][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 02:34:39,619][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 02:34:39,673][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 02:34:39,727][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 02:34:39,781][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 02:34:39,781][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 02:34:39,781][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:34:39,781][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:34:39,792][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:34:39,797][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:34:39,803][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:34:39,809][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:34:39,816][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:34:39,822][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:34:39,828][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:34:39,834][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=0.02051282051282044, 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=-0.0073260073260073, 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 02:34:39,834][root][INFO] - current_pos: [-0.007820248722056888, -0.0020981155107957505, 0.0005722133211261138, 0.0013351644159609322, -0.023079270618753256, -0.017738612954909527, -0.004386968795300206] +[2026-09-25 02:34:39,834][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:34:39,834][root][INFO] - starting separate thread for control loop +[2026-09-25 02:34:39,934][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=-0.007820248722056888, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790274879.9346254), 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=28.0, timestamp=1790274879.9346254), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1790274879.9346254), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1790274879.9346254), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.023079270618753256, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790274879.9346254), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.01812008850233049, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790274879.9346254), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.004386968795300206, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790274879.9346254)] +[2026-09-25 02:34:39,934][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:34:39,934][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-25 02:34:39,934][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:34:40,605][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-25 02:34:40,905][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:34:41,582][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 02:34:41,882][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.011635004196227428) +[2026-09-25 02:34:41,883][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.011635 ] +[2026-09-25 02:34:42,010][root][INFO] - initializing, .... +[2026-09-25 02:34:49,178][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.75 Hz +[2026-09-25 02:34:52,017][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.00 Hz +[2026-09-25 02:34:59,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.05 Hz +[2026-09-25 02:35:02,018][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.10 Hz +[2026-09-25 02:35:06,492][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 02:35:06,492][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 02:35:06,988][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.70 iterations per second over 30.00 seconds. +[2026-09-25 02:35:06,988][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003926 s, max step_time: 0.064143 s +[2026-09-25 02:35:09,182][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.05 Hz +[2026-09-25 02:35:09,836][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.62 iterations per second over 30.00 seconds. +[2026-09-25 02:35:09,836][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003974 s, max step_time: 0.064242 s +[2026-09-25 02:35:12,020][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.64 Hz +[2026-09-25 02:35:19,183][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.57 Hz +[2026-09-25 02:35:22,022][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 02:35:29,185][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.75 Hz +[2026-09-25 02:35:32,026][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.10 Hz +[2026-09-25 02:35:36,991][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.71 iterations per second over 30.00 seconds. +[2026-09-25 02:35:36,991][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: 0.007547 s +[2026-09-25 02:35:39,186][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 02:35:39,839][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.34 iterations per second over 30.00 seconds. +[2026-09-25 02:35:42,027][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.40 Hz +[2026-09-25 02:35:49,190][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.09 Hz +[2026-09-25 02:35:52,030][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.52 Hz +[2026-09-25 02:35:59,193][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.63 Hz +[2026-09-25 02:36:02,031][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.37 Hz +[2026-09-25 02:36:06,993][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.35 iterations per second over 30.00 seconds. +[2026-09-25 02:36:09,196][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.20 Hz +[2026-09-25 02:36:09,842][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.40 iterations per second over 30.00 seconds. +[2026-09-25 02:36:12,032][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.58 Hz +[2026-09-25 02:36:13,627][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: 0.007280 s +[2026-09-25 02:36:14,326][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: 0.008614 s +[2026-09-25 02:36:19,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.75 Hz +[2026-09-25 02:36:22,034][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.52 Hz +[2026-09-25 02:36:23,280][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] +[2026-09-25 02:36:23,280][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] +[2026-09-25 02:36:29,202][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.39 Hz +[2026-09-25 02:36:32,038][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.11 Hz +[2026-09-25 02:36:36,997][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.03 iterations per second over 30.00 seconds. +[2026-09-25 02:36:39,208][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.69 Hz +[2026-09-25 02:36:39,845][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.47 iterations per second over 30.00 seconds. +[2026-09-25 02:36:42,041][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.84 Hz +[2026-09-25 02:36:43,627][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003939 s, max step_time: 0.023563 s +[2026-09-25 02:36:44,330][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003928 s, max step_time: 0.014015 s +[2026-09-25 02:36:49,210][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.51 Hz +[2026-09-25 02:36:52,042][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.15 Hz +[2026-09-25 02:36:59,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.84 Hz +[2026-09-25 02:37:02,044][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.85 Hz +[2026-09-25 02:37:07,000][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.37 iterations per second over 30.00 seconds. +[2026-09-25 02:37:09,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.87 Hz +[2026-09-25 02:37:09,848][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.94 iterations per second over 30.00 seconds. +[2026-09-25 02:37:12,048][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.31 Hz +[2026-09-25 02:37:13,627][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003848 s, max step_time: 0.058668 s +[2026-09-25 02:37:19,217][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.53 Hz +[2026-09-25 02:37:22,050][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.55 Hz +[2026-09-25 02:37:29,217][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.60 Hz +[2026-09-25 02:37:32,052][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 02:37:37,002][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.78 iterations per second over 30.00 seconds. +[2026-09-25 02:37:39,220][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 02:37:39,849][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.19 iterations per second over 30.00 seconds. +[2026-09-25 02:37:42,053][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.79 Hz +[2026-09-25 02:37:43,387][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: 0.007624 s +[2026-09-25 02:37:43,628][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003828 s, max step_time: 0.007565 s +[2026-09-25 02:37:49,224][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.74 Hz +[2026-09-25 02:37:52,055][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.37 Hz +[2026-09-25 02:37:59,225][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.79 Hz +[2026-09-25 02:38:02,055][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.48 Hz +[2026-09-25 02:38:07,006][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.51 iterations per second over 30.00 seconds. +[2026-09-25 02:38:09,229][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.23 Hz +[2026-09-25 02:38:09,849][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.30 iterations per second over 30.00 seconds. +[2026-09-25 02:38:12,056][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.56 Hz +[2026-09-25 02:38:13,387][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003998 s, max step_time: 0.014990 s +[2026-09-25 02:38:13,632][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.003985 s, max step_time: 0.020612 s +[2026-09-25 02:38:19,232][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.14 Hz +[2026-09-25 02:38:22,057][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.58 Hz +[2026-09-25 02:38:29,235][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.62 Hz +[2026-09-25 02:38:32,057][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.40 Hz +[2026-09-25 02:38:35,339][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.18 iterations per second over 25.49 seconds. +[2026-09-25 02:38:35,346][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.43 iterations per second over 28.34 seconds. +[2026-09-25 02:38:36,669][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 02:38:36,671][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 02:38:36,671][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 02:38:36,671][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 02:38:36,671][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 02:38:36,671][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 02:38:36,671][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 02:38:36,671][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 02:38:36,671][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 02:38:36,672][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 02:38:36,672][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 02:38:36,672][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 02:38:36,672][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 02:38:36,672][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 02:38:36,672][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 02:38:36,672][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 02:38:36,673][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 02:38:36,673][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 02:38:36,673][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:38:36,673][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:38:36,673][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:38:36,673][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:38:36,673][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:38:36,673][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:38:36,673][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:38:36,673][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:38:36,673][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:38:36,673][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:38:36,673][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 02:38:36,673][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 02:38:36,674][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:38:36,686][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:38:36,697][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 02:38:36,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:38:36,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:38:36,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:36,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:38:36,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:38:36,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:36,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:38:36,785][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:38:36,796][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:36,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:38:36,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:38:36,830][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:36,840][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:38:36,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:38:36,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:36,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:38:36,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:38:36,895][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:36,906][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:38:36,906][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 02:38:36,906][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 02:38:36,907][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:38:36,961][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 02:38:37,015][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 02:38:37,069][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 02:38:37,124][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 02:38:37,178][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 02:38:37,231][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 02:38:37,285][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 02:38:37,285][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 02:38:37,285][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:38:37,285][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:38:37,296][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:38:37,301][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:38:37,307][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:38:37,313][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:38:37,319][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:38:37,325][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:38:37,332][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:38:37,339][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=0.012210012210012167, 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 02:38:37,339][root][INFO] - current_pos: [-0.018120088502326936, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, -0.000953688868543523, 0.0001907377737087046, -0.0020981155107957505] +[2026-09-25 02:38:37,339][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:38:37,339][root][INFO] - starting separate thread for control loop +[2026-09-25 02:38:37,440][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=-0.018120088502326936, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790275117.4400918), 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=1790275117.4400918), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1790275117.4400918), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1790275117.4400918), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.0013351644159644849, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790275117.4400918), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790275117.4400918), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0020981155107957505, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790275117.4400918)] +[2026-09-25 02:38:37,440][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:38:37,440][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0021 +[2026-09-25 02:38:37,440][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:38:38,064][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695 +[2026-09-25 02:38:38,364][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:38:38,990][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 02:38:39,290][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032) +[2026-09-25 02:38:39,291][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-25 02:38:39,526][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 02:38:39,526][root][INFO] - initializing, .... +[2026-09-25 02:38:39,527][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 02:38:39,527][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:38:39,527][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:38:39,527][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:38:39,527][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:38:39,527][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:38:39,527][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:38:39,527][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:38:39,527][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:38:39,527][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:38:39,527][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:38:39,527][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 02:38:39,527][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 02:38:39,527][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:38:39,538][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:38:39,549][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:39,560][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:38:39,570][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:38:39,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:39,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:38:39,603][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:38:39,614][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:39,624][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:38:39,635][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:38:39,646][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:39,657][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:38:39,667][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:38:39,678][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:39,689][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:38:39,701][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:38:39,712][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:39,723][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:38:39,734][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:38:39,745][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:38:39,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:38:39,755][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 02:38:39,755][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 02:38:39,756][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:38:39,809][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 02:38:39,863][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 02:38:39,916][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 02:38:39,970][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 02:38:40,024][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 02:38:40,077][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 02:38:40,131][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 02:38:40,131][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 02:38:40,131][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:38:40,131][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:38:40,142][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:38:40,147][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:38:40,153][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:38:40,159][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:38:40,165][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:38:40,171][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:38:40,177][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:38:40,183][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=0.0073260073260073, 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 02:38:40,183][root][INFO] - current_pos: [-0.018883039597161755, -0.0020981155107957505, 0.000953688868543523, 0.000953688868543523, -0.023079270618753256, -0.010109102006561344, 0.024605172808422893] +[2026-09-25 02:38:40,183][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:38:40,183][root][INFO] - starting separate thread for control loop +[2026-09-25 02:38:40,283][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=-0.018883039597161755, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790275120.2837021), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1790275120.2837021), 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=1790275120.2837021), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1790275120.2837021), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.023079270618753256, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790275120.2837021), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.010109102006561344, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790275120.2837021), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.024605172808422893, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790275120.2837021)] +[2026-09-25 02:38:40,283][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:38:40,283][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0246 +[2026-09-25 02:38:40,283][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:38:40,959][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554 +[2026-09-25 02:38:41,259][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:38:41,886][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 02:38:42,187][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.274853131914245, -0.011635004196227428) +[2026-09-25 02:38:42,187][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27485313 -0.011635 ] +[2026-09-25 02:38:42,322][root][INFO] - initializing, .... +[2026-09-25 02:38:49,534][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.17 Hz +[2026-09-25 02:38:52,328][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.30 Hz +[2026-09-25 02:38:58,902][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 02:38:58,902][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 02:38:59,537][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.30 Hz +[2026-09-25 02:39:02,331][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.96 Hz +[2026-09-25 02:39:07,341][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.42 iterations per second over 30.00 seconds. +[2026-09-25 02:39:07,341][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003854 s, max step_time: 0.068167 s +[2026-09-25 02:39:09,537][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.19 Hz +[2026-09-25 02:39:10,185][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.81 iterations per second over 30.00 seconds. +[2026-09-25 02:39:10,185][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: 0.066828 s +[2026-09-25 02:39:12,332][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.44 Hz +[2026-09-25 02:39:19,540][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.94 Hz +[2026-09-25 02:39:22,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.05 Hz +[2026-09-25 02:39:29,544][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.89 Hz +[2026-09-25 02:39:32,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.64 Hz +[2026-09-25 02:39:37,341][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.20 iterations per second over 30.00 seconds. +[2026-09-25 02:39:37,341][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003888 s, max step_time: 0.008085 s +[2026-09-25 02:39:39,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.14 Hz +[2026-09-25 02:39:39,850][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 02:39:39,850][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 02:39:40,189][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.34 iterations per second over 30.00 seconds. +[2026-09-25 02:39:40,189][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003932 s, max step_time: 0.015950 s +[2026-09-25 02:39:42,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.98 Hz +[2026-09-25 02:39:49,548][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.56 Hz +[2026-09-25 02:39:52,337][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 +[2026-09-25 02:39:59,550][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.64 Hz +[2026-09-25 02:40:02,337][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 02:40:07,342][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.82 iterations per second over 30.00 seconds. +[2026-09-25 02:40:07,342][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003864 s, max step_time: 0.013347 s +[2026-09-25 02:40:09,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.33 Hz +[2026-09-25 02:40:10,192][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.04 iterations per second over 30.00 seconds. +[2026-09-25 02:40:10,192][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003875 s, max step_time: 0.007197 s +[2026-09-25 02:40:12,340][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.05 Hz +[2026-09-25 02:40:19,556][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.02 Hz +[2026-09-25 02:40:22,341][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.17 Hz +[2026-09-25 02:40:29,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.20 Hz +[2026-09-25 02:40:32,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.85 Hz +[2026-09-25 02:40:37,343][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.03 iterations per second over 30.00 seconds. +[2026-09-25 02:40:37,343][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003906 s, max step_time: 0.007990 s +[2026-09-25 02:40:39,564][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.14 Hz +[2026-09-25 02:40:40,193][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.63 iterations per second over 30.00 seconds. +[2026-09-25 02:40:40,193][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003943 s, max step_time: 0.008568 s +[2026-09-25 02:40:42,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.63 Hz +[2026-09-25 02:40:49,567][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.78 Hz +[2026-09-25 02:40:51,545][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 02:40:51,546][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 02:40:52,346][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.09 Hz +[2026-09-25 02:40:59,570][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.44 Hz +[2026-09-25 02:41:02,350][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 02:41:07,344][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.86 iterations per second over 30.00 seconds. +[2026-09-25 02:41:07,344][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003971 s, max step_time: 0.033091 s +[2026-09-25 02:41:09,570][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.98 Hz +[2026-09-25 02:41:10,194][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.25 iterations per second over 30.00 seconds. +[2026-09-25 02:41:10,195][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003964 s, max step_time: 0.023357 s +[2026-09-25 02:41:12,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.30 Hz +[2026-09-25 02:41:19,572][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.87 Hz +[2026-09-25 02:41:22,359][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.99 Hz +[2026-09-25 02:41:29,573][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.77 Hz +[2026-09-25 02:41:32,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.30 Hz +[2026-09-25 02:41:37,347][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.04 iterations per second over 30.00 seconds. +[2026-09-25 02:41:39,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.05 Hz +[2026-09-25 02:41:40,198][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.60 iterations per second over 30.00 seconds. +[2026-09-25 02:41:40,198][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: 0.007893 s +[2026-09-25 02:41:42,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.36 Hz +[2026-09-25 02:41:49,576][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 02:41:52,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.38 Hz +[2026-09-25 02:41:53,627][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: 0.007442 s +[2026-09-25 02:41:59,579][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.74 Hz +[2026-09-25 02:42:02,367][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.40 Hz +[2026-09-25 02:42:07,350][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.07 iterations per second over 30.00 seconds. +[2026-09-25 02:42:09,579][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.78 Hz +[2026-09-25 02:42:10,201][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.81 iterations per second over 30.00 seconds. +[2026-09-25 02:42:10,201][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: 0.008095 s +[2026-09-25 02:42:12,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.52 Hz +[2026-09-25 02:42:19,581][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.86 Hz +[2026-09-25 02:42:22,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.17 Hz +[2026-09-25 02:42:23,629][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003891 s, max step_time: 0.013366 s +[2026-09-25 02:42:29,584][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.00 Hz +[2026-09-25 02:42:32,374][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.26 Hz +[2026-09-25 02:42:37,351][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.79 iterations per second over 30.00 seconds. +[2026-09-25 02:42:39,588][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.41 Hz +[2026-09-25 02:42:40,202][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.49 iterations per second over 30.00 seconds. +[2026-09-25 02:42:40,202][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 92 times, mean step_time: 0.003914 s, max step_time: 0.016110 s +[2026-09-25 02:42:42,375][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.45 Hz +[2026-09-25 02:42:49,591][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 02:42:50,645][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.32 iterations per second over 10.44 seconds. +[2026-09-25 02:42:50,651][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.10 iterations per second over 13.30 seconds. +[2026-09-25 02:42:52,076][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 02:42:52,078][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 02:42:52,078][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 02:42:52,078][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 02:42:52,078][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 02:42:52,078][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 02:42:52,078][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 02:42:52,078][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 02:42:52,078][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 02:42:52,079][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 02:42:52,079][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 02:42:52,079][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 02:42:52,079][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 02:42:52,079][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 02:42:52,079][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 02:42:52,079][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 02:42:52,080][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 02:42:52,080][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 02:42:52,080][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:42:52,080][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:42:52,080][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:42:52,080][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:42:52,080][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:42:52,080][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:42:52,080][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:42:52,080][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:42:52,080][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:42:52,080][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:42:52,080][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 02:42:52,080][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 02:42:52,081][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:42:52,093][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:42:52,104][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 02:42:52,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:42:52,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:42:52,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:52,149][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:42:52,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:42:52,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:52,183][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:42:52,194][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:42:52,205][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:52,216][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:42:52,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:42:52,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:52,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:42:52,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:42:52,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:52,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:42:52,295][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:42:52,306][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:52,317][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:42:52,317][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-25 02:42:52,317][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 02:42:52,318][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:42:52,373][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 02:42:52,429][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 02:42:52,484][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 02:42:52,539][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 02:42:52,594][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 02:42:52,650][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 02:42:52,706][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 02:42:52,706][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 02:42:52,706][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:42:52,706][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:42:52,717][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:42:52,723][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:42:52,729][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:42:52,736][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:42:52,743][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:42:52,751][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:42:52,757][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:42:52,764][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-25 02:42:52,764][root][INFO] - current_pos: [-0.0040054932478827965, -0.0001907377737087046, 0.0024795910582131597, 0.0013351644159609322, 0.0001907377737087046, 0.10852979324025291, 0.01583123521782248] +[2026-09-25 02:42:52,764][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:42:52,764][root][INFO] - starting separate thread for control loop +[2026-09-25 02:42:52,864][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=27.0, temp_rotor=26.0, timestamp=1790275372.8648162), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790275372.8648162), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790275372.8648162), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790275372.8648162), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790275372.8648162), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.10852979324025291, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790275372.8648162), 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=1790275372.8648162)] +[2026-09-25 02:42:52,865][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:42:52,865][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-25 02:42:52,865][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:42:53,546][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695 +[2026-09-25 02:42:53,847][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:42:54,474][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 02:42:54,774][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174639479) +[2026-09-25 02:42:54,774][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-25 02:42:55,008][root][INFO] - initializing, .... +[2026-09-25 02:42:55,009][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 02:42:55,009][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 02:42:55,009][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:42:55,009][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:42:55,009][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:42:55,009][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:42:55,009][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:42:55,009][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:42:55,009][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:42:55,009][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:42:55,009][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:42:55,009][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:42:55,009][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 02:42:55,009][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 02:42:55,010][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:42:55,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:42:55,032][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:55,043][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:42:55,054][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:42:55,066][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:55,077][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:42:55,088][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:42:55,099][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:55,110][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:42:55,122][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:42:55,133][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:55,144][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:42:55,155][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:42:55,167][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:55,178][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:42:55,189][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:42:55,200][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:55,211][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:42:55,222][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:42:55,233][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:42:55,244][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:42:55,244][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 02:42:55,244][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 02:42:55,244][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:42:55,298][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 02:42:55,352][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 02:42:55,405][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 02:42:55,459][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 02:42:55,512][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 02:42:55,565][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 02:42:55,620][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 02:42:55,620][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 02:42:55,620][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:42:55,620][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:42:55,631][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:42:55,636][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:42:55,642][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:42:55,649][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:42:55,655][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:42:55,661][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:42:55,667][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:42:55,673][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=0.02051282051282044, 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)] +[2026-09-25 02:42:55,673][root][INFO] - current_pos: [0.01201647974364839, -0.0020981155107957505, 0.000953688868543523, 0.0005722133211261138, -0.023079270618753256, -0.13027389944304524, 1.9220645456626233] +[2026-09-25 02:42:55,673][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:42:55,673][root][INFO] - starting separate thread for control loop +[2026-09-25 02:42:55,773][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=0.01201647974364839, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790275375.7735174), 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=29.0, timestamp=1790275375.7735174), 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=1790275375.7735174), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790275375.7735174), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.023079270618753256, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790275375.7735174), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.13027389944304524, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790275375.7735174), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=1.9224460212100407, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790275375.7735174)] +[2026-09-25 02:42:55,773][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:42:55,773][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.9224 +[2026-09-25 02:42:55,773][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:42:56,349][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-25 02:42:56,649][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:42:57,275][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 02:42:57,575][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.013542381933321579) +[2026-09-25 02:42:57,575][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.01354238] +[2026-09-25 02:42:57,703][root][INFO] - initializing, .... +[2026-09-25 02:43:05,012][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.36 Hz +[2026-09-25 02:43:07,705][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.40 Hz +[2026-09-25 02:43:15,012][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.59 Hz +[2026-09-25 02:43:17,707][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.65 Hz +[2026-09-25 02:43:22,766][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.02 iterations per second over 30.00 seconds. +[2026-09-25 02:43:22,766][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003802 s, max step_time: 0.069725 s +[2026-09-25 02:43:25,012][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.79 Hz +[2026-09-25 02:43:25,675][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.71 iterations per second over 30.00 seconds. +[2026-09-25 02:43:25,675][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003835 s, max step_time: 0.068120 s +[2026-09-25 02:43:27,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.20 Hz +[2026-09-25 02:43:35,015][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 02:43:37,714][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.60 Hz +[2026-09-25 02:43:45,016][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.19 Hz +[2026-09-25 02:43:47,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.13 Hz +[2026-09-25 02:43:52,768][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.58 iterations per second over 30.00 seconds. +[2026-09-25 02:43:52,768][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003913 s, max step_time: 0.008707 s +[2026-09-25 02:43:55,020][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.31 Hz +[2026-09-25 02:43:55,678][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.74 iterations per second over 30.00 seconds. +[2026-09-25 02:43:55,678][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003941 s, max step_time: 0.008379 s +[2026-09-25 02:43:57,214][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 02:43:57,215][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 02:43:57,718][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.26 Hz +[2026-09-25 02:44:05,022][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.75 Hz +[2026-09-25 02:44:07,720][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.35 Hz +[2026-09-25 02:44:15,025][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.30 Hz +[2026-09-25 02:44:17,722][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 +[2026-09-25 02:44:22,771][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.91 iterations per second over 30.00 seconds. +[2026-09-25 02:44:22,771][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003877 s, max step_time: 0.015898 s +[2026-09-25 02:44:25,027][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.05 Hz +[2026-09-25 02:44:25,681][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.31 iterations per second over 30.00 seconds. +[2026-09-25 02:44:25,681][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003856 s, max step_time: 0.013885 s +[2026-09-25 02:44:27,724][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.22 Hz +[2026-09-25 02:44:35,028][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.39 Hz +[2026-09-25 02:44:37,726][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.37 Hz +[2026-09-25 02:44:45,029][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.45 Hz +[2026-09-25 02:44:47,729][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.09 Hz +[2026-09-25 02:44:52,771][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.83 iterations per second over 30.00 seconds. +[2026-09-25 02:44:52,771][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003894 s, max step_time: 0.007393 s +[2026-09-25 02:44:55,032][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.32 Hz +[2026-09-25 02:44:55,684][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.47 iterations per second over 30.00 seconds. +[2026-09-25 02:44:55,685][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003914 s, max step_time: 0.007514 s +[2026-09-25 02:44:57,733][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.91 Hz +[2026-09-25 02:44:58,458][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-25 02:44:58,458][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-25 02:45:05,035][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.54 Hz +[2026-09-25 02:45:07,737][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.01 Hz +[2026-09-25 02:45:15,036][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.79 Hz +[2026-09-25 02:45:17,738][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.56 Hz +[2026-09-25 02:45:22,772][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.73 iterations per second over 30.00 seconds. +[2026-09-25 02:45:22,772][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003910 s, max step_time: 0.019165 s +[2026-09-25 02:45:25,037][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 +[2026-09-25 02:45:25,688][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.70 iterations per second over 30.00 seconds. +[2026-09-25 02:45:25,688][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003895 s, max step_time: 0.015386 s +[2026-09-25 02:45:27,741][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.32 Hz +[2026-09-25 02:45:35,038][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 +[2026-09-25 02:45:37,745][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.81 Hz +[2026-09-25 02:45:45,039][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.28 Hz +[2026-09-25 02:45:47,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.20 Hz +[2026-09-25 02:45:52,775][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.17 iterations per second over 30.00 seconds. +[2026-09-25 02:45:55,041][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.77 Hz +[2026-09-25 02:45:55,689][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.82 iterations per second over 30.00 seconds. +[2026-09-25 02:45:55,689][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003864 s, max step_time: 0.007230 s +[2026-09-25 02:45:57,584][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: 0.008731 s +[2026-09-25 02:45:57,750][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.20 Hz +[2026-09-25 02:46:05,040][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.60 Hz +[2026-09-25 02:46:07,313][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 02:46:07,314][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 02:46:07,753][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.83 Hz +[2026-09-25 02:46:15,043][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 02:46:17,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.30 Hz +[2026-09-25 02:46:22,777][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.95 iterations per second over 30.00 seconds. +[2026-09-25 02:46:25,046][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.64 Hz +[2026-09-25 02:46:25,691][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.48 iterations per second over 30.00 seconds. +[2026-09-25 02:46:25,691][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003961 s, max step_time: 0.021217 s +[2026-09-25 02:46:27,586][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003947 s, max step_time: 0.018463 s +[2026-09-25 02:46:27,753][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 +[2026-09-25 02:46:35,048][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 02:46:37,754][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.99 Hz +[2026-09-25 02:46:45,049][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.77 Hz +[2026-09-25 02:46:47,754][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.60 Hz +[2026-09-25 02:46:52,779][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.27 iterations per second over 30.00 seconds. +[2026-09-25 02:46:55,055][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.87 Hz +[2026-09-25 02:46:55,694][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.85 iterations per second over 30.00 seconds. +[2026-09-25 02:46:55,694][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003848 s, max step_time: 0.012063 s +[2026-09-25 02:46:57,587][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003830 s, max step_time: 0.012323 s +[2026-09-25 02:46:57,757][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 +[2026-09-25 02:47:05,057][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.61 Hz +[2026-09-25 02:47:07,758][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 02:47:15,059][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.16 Hz +[2026-09-25 02:47:17,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.65 Hz +[2026-09-25 02:47:22,780][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.96 iterations per second over 30.00 seconds. +[2026-09-25 02:47:25,062][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.62 Hz +[2026-09-25 02:47:25,696][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.51 iterations per second over 30.00 seconds. +[2026-09-25 02:47:25,697][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003868 s, max step_time: 0.009269 s +[2026-09-25 02:47:27,589][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.003863 s, max step_time: 0.010034 s +[2026-09-25 02:47:27,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.74 Hz +[2026-09-25 02:47:35,066][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.40 Hz +[2026-09-25 02:47:37,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.09 Hz +[2026-09-25 02:47:45,067][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.48 Hz +[2026-09-25 02:47:47,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.32 Hz +[2026-09-25 02:47:52,782][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.68 iterations per second over 30.00 seconds. +[2026-09-25 02:47:55,067][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 +[2026-09-25 02:47:55,698][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.12 iterations per second over 30.00 seconds. +[2026-09-25 02:47:55,698][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 80 times, mean step_time: 0.003920 s, max step_time: 0.014454 s +[2026-09-25 02:47:57,591][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 96 times, mean step_time: 0.003924 s, max step_time: 0.013752 s +[2026-09-25 02:47:57,769][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 02:47:58,034][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.06 iterations per second over 2.34 seconds. +[2026-09-25 02:47:58,041][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.21 iterations per second over 5.26 seconds. +[2026-09-25 02:47:59,684][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 02:47:59,685][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 02:47:59,685][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 02:47:59,685][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 02:47:59,685][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 02:47:59,685][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 02:47:59,685][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 02:47:59,685][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 02:47:59,686][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 02:47:59,686][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 02:47:59,686][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 02:47:59,686][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 02:47:59,686][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 02:47:59,686][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 02:47:59,686][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 02:47:59,686][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 02:47:59,687][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 02:47:59,687][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 02:47:59,687][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:47:59,687][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:47:59,687][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:47:59,687][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:47:59,687][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:47:59,687][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:47:59,687][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:47:59,687][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:47:59,687][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:47:59,687][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:47:59,687][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 02:47:59,687][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 02:47:59,688][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:47:59,700][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:47:59,711][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 02:47:59,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:47:59,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:47:59,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:47:59,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:47:59,765][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:47:59,776][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:47:59,787][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:47:59,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:47:59,808][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:47:59,819][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:47:59,830][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:47:59,841][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:47:59,851][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:47:59,862][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:47:59,873][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:47:59,884][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:47:59,894][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:47:59,905][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:47:59,916][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:47:59,916][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 02:47:59,916][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 02:47:59,916][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:47:59,971][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 02:48:00,025][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 02:48:00,079][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 02:48:00,133][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 02:48:00,187][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 02:48:00,241][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 02:48:00,294][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 02:48:00,295][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 02:48:00,295][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:48:00,295][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:48:00,306][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:48:00,311][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:48:00,317][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:48:00,323][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:48:00,329][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:48:00,335][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:48:00,341][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:48:00,347][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 02:48:00,347][root][INFO] - current_pos: [-0.00705729762722207, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.01621271076523989, 0.137521934843976, -0.000953688868543523] +[2026-09-25 02:48:00,347][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:48:00,347][root][INFO] - starting separate thread for control loop +[2026-09-25 02:48:00,448][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=-0.00705729762722207, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790275680.448147), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790275680.448147), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790275680.448147), 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=1790275680.448147), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0165941863126573, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790275680.448147), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.137521934843976, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790275680.448147), 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=1790275680.448147)] +[2026-09-25 02:48:00,448][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:48:00,448][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-25 02:48:00,448][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:48:01,077][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695 +[2026-09-25 02:48:01,377][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:48:02,006][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 02:48:02,306][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032) +[2026-09-25 02:48:02,306][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877] +[2026-09-25 02:48:02,541][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 02:48:02,541][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 02:48:02,541][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:48:02,541][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:48:02,541][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:48:02,541][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:48:02,541][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:48:02,541][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:48:02,541][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:48:02,541][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:48:02,541][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:48:02,541][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:48:02,541][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 02:48:02,542][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 02:48:02,542][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:48:02,543][root][INFO] - initializing, .... +[2026-09-25 02:48:02,553][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:48:02,563][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:48:02,574][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:48:02,585][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:48:02,595][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:48:02,606][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:48:02,617][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:48:02,628][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:48:02,638][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:48:02,649][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:48:02,660][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:48:02,671][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:48:02,681][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:48:02,692][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:48:02,703][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:48:02,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:48:02,724][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:48:02,735][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:48:02,746][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:48:02,756][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:48:02,767][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:48:02,767][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 02:48:02,767][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 02:48:02,768][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:48:02,821][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 02:48:02,875][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 02:48:02,928][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 02:48:02,981][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 02:48:03,035][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 02:48:03,088][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 02:48:03,142][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 02:48:03,142][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 02:48:03,142][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:48:03,142][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:48:03,153][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:48:03,158][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:48:03,164][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:48:03,170][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:48:03,176][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:48:03,182][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:48:03,188][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:48:03,194][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, 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 02:48:03,194][root][INFO] - current_pos: [-0.08640421149004318, -0.0020981155107957505, 0.000953688868543523, 0.002861066605630569, -0.04520485236896299, 0.023079270618753256, 0.014305333028152845] +[2026-09-25 02:48:03,194][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:48:03,194][root][INFO] - starting separate thread for control loop +[2026-09-25 02:48:03,294][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=-0.08640421149004318, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790275683.2946208), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790275683.2946208), 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=1790275683.2946208), 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=38.0, timestamp=1790275683.2946208), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.04520485236896299, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790275683.2946208), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.023079270618753256, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790275683.2946208), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.014305333028152845, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790275683.2946208)] +[2026-09-25 02:48:03,294][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:48:03,294][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0143 +[2026-09-25 02:48:03,294][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:48:03,967][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554 +[2026-09-25 02:48:04,268][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:48:04,891][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 02:48:05,191][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.279430838483254, -0.01163500419623098) +[2026-09-25 02:48:05,191][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27943084 -0.011635 ] +[2026-09-25 02:48:05,320][root][INFO] - initializing, .... +[2026-09-25 02:48:12,546][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.55 Hz +[2026-09-25 02:48:15,322][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.01 Hz +[2026-09-25 02:48:22,547][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 +[2026-09-25 02:48:25,326][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.52 Hz +[2026-09-25 02:48:30,350][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.08 iterations per second over 30.00 seconds. +[2026-09-25 02:48:30,350][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003801 s, max step_time: 0.077662 s +[2026-09-25 02:48:32,546][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.68 Hz +[2026-09-25 02:48:33,197][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.00 iterations per second over 30.00 seconds. +[2026-09-25 02:48:33,198][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003860 s, max step_time: 0.071927 s +[2026-09-25 02:48:35,329][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.15 Hz +[2026-09-25 02:48:42,550][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.31 Hz +[2026-09-25 02:48:45,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.96 Hz +[2026-09-25 02:48:52,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.89 Hz +[2026-09-25 02:48:55,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.30 Hz +[2026-09-25 02:48:56,700][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 02:48:56,700][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 02:49:00,353][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.77 iterations per second over 30.00 seconds. +[2026-09-25 02:49:00,353][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003956 s, max step_time: 0.022133 s +[2026-09-25 02:49:02,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.67 Hz +[2026-09-25 02:49:03,200][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.68 iterations per second over 30.00 seconds. +[2026-09-25 02:49:03,200][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003958 s, max step_time: 0.019628 s +[2026-09-25 02:49:05,334][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.02 Hz +[2026-09-25 02:49:12,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.98 Hz +[2026-09-25 02:49:15,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.29 Hz +[2026-09-25 02:49:22,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.89 Hz +[2026-09-25 02:49:25,336][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 02:49:30,356][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.31 iterations per second over 30.00 seconds. +[2026-09-25 02:49:30,356][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003827 s, max step_time: 0.007245 s +[2026-09-25 02:49:32,554][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.08 Hz +[2026-09-25 02:49:33,202][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.28 iterations per second over 30.00 seconds. +[2026-09-25 02:49:35,339][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.72 Hz +[2026-09-25 02:49:38,085][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003853 s, max step_time: 0.008035 s +[2026-09-25 02:49:42,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.01 Hz +[2026-09-25 02:49:45,344][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.69 Hz +[2026-09-25 02:49:51,599][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 02:49:51,599][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 02:49:52,561][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.11 Hz +[2026-09-25 02:49:55,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.80 Hz +[2026-09-25 02:50:00,358][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.45 iterations per second over 30.00 seconds. +[2026-09-25 02:50:00,358][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003930 s, max step_time: 0.022603 s +[2026-09-25 02:50:02,561][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.49 Hz +[2026-09-25 02:50:03,204][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.15 iterations per second over 30.00 seconds. +[2026-09-25 02:50:05,347][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.32 Hz +[2026-09-25 02:50:08,088][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003927 s, max step_time: 0.026217 s +[2026-09-25 02:50:12,565][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.20 Hz +[2026-09-25 02:50:15,350][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.91 Hz +[2026-09-25 02:50:22,567][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 +[2026-09-25 02:50:25,355][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.01 Hz +[2026-09-25 02:50:30,358][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.63 iterations per second over 30.00 seconds. +[2026-09-25 02:50:30,359][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003897 s, max step_time: 0.008208 s +[2026-09-25 02:50:32,569][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.57 Hz +[2026-09-25 02:50:33,204][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.80 iterations per second over 30.00 seconds. +[2026-09-25 02:50:35,356][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.99 Hz +[2026-09-25 02:50:38,089][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003957 s, max step_time: 0.009098 s +[2026-09-25 02:50:42,569][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.39 Hz +[2026-09-25 02:50:45,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.22 Hz +[2026-09-25 02:50:45,473][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 02:50:45,473][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 02:50:52,573][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.09 Hz +[2026-09-25 02:50:55,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.55 Hz +[2026-09-25 02:51:00,361][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.84 iterations per second over 30.00 seconds. +[2026-09-25 02:51:00,361][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003955 s, max step_time: 0.023870 s +[2026-09-25 02:51:02,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.79 Hz +[2026-09-25 02:51:03,208][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.80 iterations per second over 30.00 seconds. +[2026-09-25 02:51:05,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.38 Hz +[2026-09-25 02:51:08,091][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003914 s, max step_time: 0.036059 s +[2026-09-25 02:51:12,575][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.36 Hz +[2026-09-25 02:51:15,361][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.48 Hz +[2026-09-25 02:51:22,579][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 +[2026-09-25 02:51:25,365][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.47 Hz +[2026-09-25 02:51:30,362][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.96 iterations per second over 30.00 seconds. +[2026-09-25 02:51:32,580][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.77 Hz +[2026-09-25 02:51:33,211][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.67 iterations per second over 30.00 seconds. +[2026-09-25 02:51:34,603][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: 0.007554 s +[2026-09-25 02:51:35,368][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.33 Hz +[2026-09-25 02:51:38,095][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003855 s, max step_time: 0.008033 s +[2026-09-25 02:51:42,580][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.80 Hz +[2026-09-25 02:51:45,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.37 Hz +[2026-09-25 02:51:52,583][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.53 Hz +[2026-09-25 02:51:55,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.49 Hz +[2026-09-25 02:52:00,364][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.59 iterations per second over 30.00 seconds. +[2026-09-25 02:52:02,584][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.06 Hz +[2026-09-25 02:52:03,213][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.59 iterations per second over 30.00 seconds. +[2026-09-25 02:52:04,603][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003835 s, max step_time: 0.010388 s +[2026-09-25 02:52:05,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.49 Hz +[2026-09-25 02:52:08,096][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 59 times, mean step_time: 0.003853 s, max step_time: 0.010239 s +[2026-09-25 02:52:12,588][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.34 Hz +[2026-09-25 02:52:15,374][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.92 Hz +[2026-09-25 02:52:22,591][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.30 Hz +[2026-09-25 02:52:25,376][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.32 Hz +[2026-09-25 02:52:30,367][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.54 iterations per second over 30.00 seconds. +[2026-09-25 02:52:32,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.46 Hz +[2026-09-25 02:52:33,214][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.12 iterations per second over 30.00 seconds. +[2026-09-25 02:52:34,605][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003865 s, max step_time: 0.011320 s +[2026-09-25 02:52:35,378][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.66 Hz +[2026-09-25 02:52:38,099][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003879 s, max step_time: 0.013215 s +[2026-09-25 02:52:42,598][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.15 Hz +[2026-09-25 02:52:45,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.82 Hz +[2026-09-25 02:52:52,599][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.98 Hz +[2026-09-25 02:52:55,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.16 Hz +[2026-09-25 02:53:00,371][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.53 iterations per second over 30.00 seconds. +[2026-09-25 02:53:02,600][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.66 Hz +[2026-09-25 02:53:03,216][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.72 iterations per second over 30.00 seconds. +[2026-09-25 02:53:04,606][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003879 s, max step_time: 0.015809 s +[2026-09-25 02:53:04,607][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.51 iterations per second over 1.39 seconds. +[2026-09-25 02:53:04,615][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.99 iterations per second over 4.24 seconds. +[2026-09-25 02:53:05,827][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 02:53:05,828][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 02:53:05,828][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 02:53:05,828][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 02:53:05,829][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 02:53:05,829][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 02:53:05,829][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 02:53:05,829][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 02:53:05,829][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 02:53:05,830][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 02:53:05,830][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 02:53:05,830][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 02:53:05,830][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 02:53:05,830][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 02:53:05,830][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 02:53:05,830][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 02:53:05,830][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 02:53:05,830][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 02:53:05,830][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:53:05,831][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:53:05,831][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:53:05,831][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:53:05,831][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:53:05,831][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:53:05,831][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:53:05,831][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:53:05,831][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:53:05,831][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:53:05,831][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 02:53:05,831][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 02:53:05,832][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:53:05,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:53:05,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 02:53:05,865][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:53:05,876][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:53:05,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:05,898][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:53:05,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:53:05,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:05,931][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:53:05,942][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:53:05,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:05,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:53:05,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:53:05,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:05,998][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:53:06,009][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:53:06,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:06,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:53:06,042][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:53:06,054][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:06,065][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:53:06,065][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 02:53:06,065][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 02:53:06,065][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:53:06,120][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 02:53:06,175][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 02:53:06,229][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 02:53:06,283][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 02:53:06,337][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 02:53:06,390][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 02:53:06,444][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 02:53:06,444][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 02:53:06,445][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:53:06,445][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:53:06,455][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:53:06,461][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:53:06,467][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:53:06,473][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:53:06,479][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:53:06,485][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:53:06,491][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:53:06,497][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 02:53:06,497][root][INFO] - current_pos: [-0.023842221713588074, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, -0.0024795910582131597, 0.02193484397650103, 0.015449759670405072] +[2026-09-25 02:53:06,497][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:53:06,497][root][INFO] - starting separate thread for control loop +[2026-09-25 02:53:06,598][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.023842221713588074, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790275986.598019), 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=1790275986.598019), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790275986.598019), 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=1790275986.598019), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790275986.598019), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.02193484397650103, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790275986.598019), 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=1790275986.598019)] +[2026-09-25 02:53:06,598][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:53:06,598][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-25 02:53:06,598][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:53:07,278][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2699 +[2026-09-25 02:53:07,578][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:53:08,202][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 02:53:08,502][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270275425345236, -0.007438773174639479) +[2026-09-25 02:53:08,502][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27027543 -0.00743877] +[2026-09-25 02:53:08,739][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 02:53:08,740][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 02:53:08,740][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:53:08,740][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:53:08,740][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:53:08,740][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:53:08,740][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:53:08,740][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:53:08,740][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:53:08,740][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:53:08,740][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:53:08,740][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:53:08,740][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 02:53:08,740][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 02:53:08,740][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:53:08,742][root][INFO] - initializing, .... +[2026-09-25 02:53:08,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:53:08,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:08,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:53:08,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:53:08,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:08,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:53:08,816][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:53:08,827][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:08,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:53:08,848][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:53:08,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:08,870][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:53:08,881][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:53:08,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:08,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:53:08,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:53:08,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:08,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:53:08,946][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:53:08,956][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:53:08,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:53:08,967][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 02:53:08,967][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 02:53:08,967][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:53:09,021][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 02:53:09,075][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 02:53:09,128][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 02:53:09,182][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 02:53:09,235][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 02:53:09,289][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 02:53:09,342][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 02:53:09,342][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 02:53:09,343][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:53:09,343][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:53:09,353][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:53:09,359][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:53:09,365][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:53:09,371][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:53:09,376][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:53:09,382][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:53:09,389][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:53:09,395][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-25 02:53:09,395][root][INFO] - current_pos: [-0.08907454032196505, 0.0005722133211261138, 0.000953688868543523, 0.0024795910582131597, -0.0455863279163804, 0.1287479972533756, 0.09708552681773064] +[2026-09-25 02:53:09,395][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:53:09,395][root][INFO] - starting separate thread for control loop +[2026-09-25 02:53:09,496][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.04786324786324769, pos=-0.08907454032196505, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790275989.4961612), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790275989.4961612), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790275989.4961612), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.002861066605630569, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790275989.4961612), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0455863279163804, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790275989.4961612), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.1287479972533756, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790275989.4961612), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.09708552681773064, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790275989.4961612)] +[2026-09-25 02:53:09,496][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:53:09,496][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0971 +[2026-09-25 02:53:09,496][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:53:10,171][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-25 02:53:10,471][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:53:11,095][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 02:53:11,396][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.266460669871062, -0.011635004196227428) +[2026-09-25 02:53:11,396][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26646067 -0.011635 ] +[2026-09-25 02:53:11,522][root][INFO] - initializing, .... +[2026-09-25 02:53:18,742][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.08 Hz +[2026-09-25 02:53:21,527][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.15 Hz +[2026-09-25 02:53:28,744][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.77 Hz +[2026-09-25 02:53:30,216][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 02:53:30,216][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 02:53:31,529][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.16 Hz +[2026-09-25 02:53:36,502][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.49 iterations per second over 30.00 seconds. +[2026-09-25 02:53:36,503][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003914 s, max step_time: 0.080612 s +[2026-09-25 02:53:38,746][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.34 Hz +[2026-09-25 02:53:39,399][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.20 iterations per second over 30.00 seconds. +[2026-09-25 02:53:39,399][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003949 s, max step_time: 0.085894 s +[2026-09-25 02:53:41,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.42 Hz +[2026-09-25 02:53:48,747][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.49 Hz +[2026-09-25 02:53:51,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.30 Hz +[2026-09-25 02:53:58,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.87 Hz +[2026-09-25 02:54:01,537][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.29 Hz +[2026-09-25 02:54:06,504][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.72 iterations per second over 30.00 seconds. +[2026-09-25 02:54:06,504][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003835 s, max step_time: 0.007171 s +[2026-09-25 02:54:08,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.27 Hz +[2026-09-25 02:54:09,400][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.15 iterations per second over 30.00 seconds. +[2026-09-25 02:54:11,539][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 +[2026-09-25 02:54:18,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.91 Hz +[2026-09-25 02:54:21,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.33 Hz +[2026-09-25 02:54:28,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.52 Hz +[2026-09-25 02:54:31,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.27 Hz +[2026-09-25 02:54:36,506][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.61 iterations per second over 30.00 seconds. +[2026-09-25 02:54:36,506][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003808 s, max step_time: 0.007334 s +[2026-09-25 02:54:38,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.57 Hz +[2026-09-25 02:54:39,402][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.72 iterations per second over 30.00 seconds. +[2026-09-25 02:54:41,544][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.46 Hz +[2026-09-25 02:54:48,759][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.13 Hz +[2026-09-25 02:54:49,459][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003831 s, max step_time: 0.007287 s +[2026-09-25 02:54:51,546][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.75 Hz +[2026-09-25 02:54:58,761][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.25 Hz +[2026-09-25 02:55:01,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.24 Hz +[2026-09-25 02:55:06,509][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.94 iterations per second over 30.00 seconds. +[2026-09-25 02:55:06,509][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003892 s, max step_time: 0.009001 s +[2026-09-25 02:55:08,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.12 Hz +[2026-09-25 02:55:09,406][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.50 iterations per second over 30.00 seconds. +[2026-09-25 02:55:11,550][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.18 Hz +[2026-09-25 02:55:14,401][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 02:55:14,401][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 02:55:18,766][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.43 Hz +[2026-09-25 02:55:19,463][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003964 s, max step_time: 0.020412 s +[2026-09-25 02:55:21,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.94 Hz +[2026-09-25 02:55:28,769][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 +[2026-09-25 02:55:31,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.77 Hz +[2026-09-25 02:55:36,512][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.90 iterations per second over 30.00 seconds. +[2026-09-25 02:55:36,512][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003877 s, max step_time: 0.016982 s +[2026-09-25 02:55:38,773][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.11 Hz +[2026-09-25 02:55:39,408][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.12 iterations per second over 30.00 seconds. +[2026-09-25 02:55:41,555][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.77 Hz +[2026-09-25 02:55:48,774][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 02:55:51,555][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.39 Hz +[2026-09-25 02:55:55,543][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003826 s, max step_time: 0.007229 s +[2026-09-25 02:55:58,777][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.21 Hz +[2026-09-25 02:56:01,558][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.41 Hz +[2026-09-25 02:56:06,515][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.98 iterations per second over 30.00 seconds. +[2026-09-25 02:56:06,515][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003922 s, max step_time: 0.008178 s +[2026-09-25 02:56:08,779][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.29 Hz +[2026-09-25 02:56:09,411][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.52 iterations per second over 30.00 seconds. +[2026-09-25 02:56:11,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.68 Hz +[2026-09-25 02:56:18,781][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.13 Hz +[2026-09-25 02:56:21,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.69 Hz +[2026-09-25 02:56:25,547][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004050 s, max step_time: 0.008601 s +[2026-09-25 02:56:28,784][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.52 Hz +[2026-09-25 02:56:31,563][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.41 Hz +[2026-09-25 02:56:36,516][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.79 iterations per second over 30.00 seconds. +[2026-09-25 02:56:36,516][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.004036 s, max step_time: 0.009762 s +[2026-09-25 02:56:38,784][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.80 Hz +[2026-09-25 02:56:39,412][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.19 iterations per second over 30.00 seconds. +[2026-09-25 02:56:39,638][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 02:56:39,638][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 02:56:41,565][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.56 Hz +[2026-09-25 02:56:48,785][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.07 Hz +[2026-09-25 02:56:51,568][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.81 Hz +[2026-09-25 02:56:55,550][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003915 s, max step_time: 0.040833 s +[2026-09-25 02:56:58,788][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.50 Hz +[2026-09-25 02:57:01,570][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 +[2026-09-25 02:57:06,517][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.62 iterations per second over 30.00 seconds. +[2026-09-25 02:57:06,517][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003837 s, max step_time: 0.036975 s +[2026-09-25 02:57:08,792][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.62 Hz +[2026-09-25 02:57:09,415][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.14 iterations per second over 30.00 seconds. +[2026-09-25 02:57:11,572][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 02:57:18,795][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.82 Hz +[2026-09-25 02:57:21,576][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.50 Hz +[2026-09-25 02:57:25,551][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003872 s, max step_time: 0.012937 s +[2026-09-25 02:57:28,795][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.20 Hz +[2026-09-25 02:57:31,578][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.88 Hz +[2026-09-25 02:57:36,519][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.38 iterations per second over 30.00 seconds. +[2026-09-25 02:57:36,520][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 63 times, mean step_time: 0.003870 s, max step_time: 0.012062 s +[2026-09-25 02:57:37,886][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.19 iterations per second over 28.47 seconds. +[2026-09-25 02:57:37,893][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 267.11 iterations per second over 1.37 seconds. +[2026-09-25 02:57:39,221][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 02:57:39,222][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 02:57:39,222][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 02:57:39,222][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 02:57:39,222][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 02:57:39,222][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 02:57:39,222][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 02:57:39,222][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 02:57:39,222][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 02:57:39,223][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 02:57:39,223][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 02:57:39,223][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 02:57:39,223][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 02:57:39,223][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 02:57:39,223][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 02:57:39,223][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 02:57:39,224][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 02:57:39,224][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 02:57:39,224][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:57:39,224][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:57:39,224][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:57:39,224][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:57:39,224][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:57:39,224][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:57:39,224][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:57:39,224][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:57:39,224][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:57:39,224][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:57:39,224][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 02:57:39,224][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 02:57:39,225][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:57:39,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:57:39,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 02:57:39,259][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:57:39,270][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:57:39,281][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:39,292][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:57:39,303][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:57:39,314][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:39,325][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:57:39,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:57:39,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:39,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:57:39,370][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:57:39,381][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:39,392][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:57:39,403][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:57:39,414][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:39,425][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:57:39,436][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:57:39,447][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:39,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:57:39,459][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 02:57:39,459][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 02:57:39,459][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:57:39,514][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 02:57:39,569][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 02:57:39,625][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 02:57:39,681][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 02:57:39,735][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 02:57:39,790][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 02:57:39,844][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-25 02:57:39,844][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-25 02:57:39,844][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:57:39,844][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:57:39,855][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:57:39,860][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:57:39,867][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:57:39,873][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:57:39,879][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:57:39,885][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:57:39,891][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:57:39,897][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=-0.03418803418803407, 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 02:57:39,897][root][INFO] - current_pos: [-0.09670405127031323, -0.0005722133211261138, 0.0017166399633783413, 0.004768444342717615, -0.028038452735179575, 0.1909285114824133, 0.01583123521782248] +[2026-09-25 02:57:39,897][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:57:39,897][root][INFO] - starting separate thread for control loop +[2026-09-25 02:57:39,998][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=-0.09670405127031323, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790276259.9979584), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790276259.9979584), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1790276259.9979584), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.004768444342717615, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790276259.9979584), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.028038452735179575, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790276259.9979584), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.1909285114824133, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790276259.9979584), 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=1790276259.9979584)] +[2026-09-25 02:57:39,998][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:57:39,998][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-25 02:57:39,998][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:57:40,679][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-25 02:57:40,980][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:57:41,601][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 02:57:41,901][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174639479) +[2026-09-25 02:57:41,901][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:57:42,147][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:57:42,147][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:57:42,147][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 02:57:42,147][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 02:57:42,147][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:57:42,148][root][INFO] - initializing, .... +[2026-09-25 02:57:42,158][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:57:42,169][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:42,180][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:57:42,191][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:57:42,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:42,213][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:57:42,224][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:57:42,235][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:42,246][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:57:42,257][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:57:42,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:42,279][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:57:42,290][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:57:42,301][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:42,312][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:57:42,323][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:57:42,334][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:42,345][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:57:42,356][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:57:42,367][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:57:42,378][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:57:42,378][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 02:57:42,378][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 02:57:42,379][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:57:42,434][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 02:57:42,489][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 02:57:42,543][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 02:57:42,597][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 02:57:42,650][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 02:57:42,704][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 02:57:42,757][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 02:57:42,757][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 02:57:42,757][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:57:42,757][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:57:42,768][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:57:42,773][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:57:42,779][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:57:42,785][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:57:42,791][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:57:42,797][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:57:42,803][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:57:42,809][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=-0.07521367521367495, 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=-0.0073260073260073, 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)] +[2026-09-25 02:57:42,809][root][INFO] - current_pos: [-0.0497825589379719, -0.0013351644159609322, 0.000953688868543523, 0.003242542153047978, -0.04444190127412817, 0.023460746166170665, 1.1854352635996026] +[2026-09-25 02:57:42,809][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:57:42,809][root][INFO] - starting separate thread for control loop +[2026-09-25 02:57:42,910][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=-0.0497825589379719, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790276262.9099655), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=32.0, timestamp=1790276262.9099655), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1790276262.9099655), 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=37.0, timestamp=1790276262.9099655), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.04444190127412817, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790276262.9099655), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=0.023460746166170665, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790276262.9099655), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=1.1854352635996026, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790276262.9099655)] +[2026-09-25 02:57:42,910][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:57:42,910][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.1854 +[2026-09-25 02:57:42,910][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:57:43,538][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554 +[2026-09-25 02:57:43,838][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:57:44,468][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 02:57:44,769][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.278286411841002, -0.011635004196227428) +[2026-09-25 02:57:44,769][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27828641 -0.011635 ] +[2026-09-25 02:57:44,894][root][INFO] - initializing, .... +[2026-09-25 02:57:52,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.21 Hz +[2026-09-25 02:57:54,898][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.57 Hz +[2026-09-25 02:58:02,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.05 Hz +[2026-09-25 02:58:04,902][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.51 Hz +[2026-09-25 02:58:09,900][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.14 iterations per second over 30.00 seconds. +[2026-09-25 02:58:09,900][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003873 s, max step_time: 0.075533 s +[2026-09-25 02:58:12,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.58 Hz +[2026-09-25 02:58:12,813][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.14 iterations per second over 30.00 seconds. +[2026-09-25 02:58:12,813][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003919 s, max step_time: 0.074147 s +[2026-09-25 02:58:14,906][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.40 Hz +[2026-09-25 02:58:19,115][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 263.55 iterations per second over 6.30 seconds. +[2026-09-25 02:58:19,121][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.44 iterations per second over 9.22 seconds. +[2026-09-25 02:58:20,393][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 02:58:20,395][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 02:58:20,395][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 02:58:20,395][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 02:58:20,395][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 02:58:20,395][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 02:58:20,395][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 02:58:20,395][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 02:58:20,395][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 02:58:20,396][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 02:58:20,396][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 02:58:20,396][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 02:58:20,396][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 02:58:20,396][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 02:58:20,396][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 02:58:20,396][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 02:58:20,397][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 02:58:20,397][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 02:58:20,397][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:58:20,397][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:58:20,397][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:58:20,397][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:58:20,397][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:58:20,397][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:58:20,397][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:58:20,397][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:58:20,397][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:58:20,397][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:58:20,397][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 02:58:20,397][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 02:58:20,398][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:58:20,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:58:20,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 02:58:20,431][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:58:20,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:58:20,453][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:20,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:58:20,475][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:58:20,486][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:20,497][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:58:20,508][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:58:20,519][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:20,530][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:58:20,541][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:58:20,552][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:20,563][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:58:20,574][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:58:20,585][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:20,595][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:58:20,606][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:58:20,617][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:20,628][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:58:20,628][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-25 02:58:20,628][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 02:58:20,628][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:58:20,683][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 02:58:20,737][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 02:58:20,791][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 02:58:20,845][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 02:58:20,899][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 02:58:20,953][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 02:58:21,007][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 02:58:21,007][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 02:58:21,007][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:58:21,007][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:58:21,018][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:58:21,023][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:58:21,029][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:58:21,036][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:58:21,042][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:58:21,048][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:58:21,054][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:58:21,060][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=-0.0073260073260073, 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 02:58:21,060][root][INFO] - current_pos: [-0.08907454032196505, -0.0005722133211261138, 0.0024795910582131597, 0.0005722133211261138, -0.0036240177004653873, 0.1905470359349959, -0.0024795910582131597] +[2026-09-25 02:58:21,060][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:58:21,060][root][INFO] - starting separate thread for control loop +[2026-09-25 02:58:21,161][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.006837606837606813, pos=-0.0894560158693789, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790276301.1610408), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790276301.1610408), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790276301.1610408), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.012210012210012167, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790276301.1610408), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.0036240177004653873, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790276301.1610408), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.1905470359349959, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790276301.1610408), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790276301.1610408)] +[2026-09-25 02:58:21,161][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:58:21,161][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0025 +[2026-09-25 02:58:21,161][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:58:21,786][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-25 02:58:22,087][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:58:22,714][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 02:58:23,014][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007820248722053336) +[2026-09-25 02:58:23,014][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00782025] +[2026-09-25 02:58:23,259][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-25 02:58:23,260][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 02:58:23,260][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:58:23,260][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:58:23,260][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:58:23,260][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:58:23,260][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:58:23,260][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:58:23,260][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:58:23,260][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:58:23,260][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:58:23,260][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:58:23,260][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 02:58:23,260][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 02:58:23,260][root][INFO] - initializing, .... +[2026-09-25 02:58:23,261][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:58:23,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:58:23,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:23,294][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:58:23,305][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:58:23,316][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:23,327][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:58:23,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:58:23,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:23,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:58:23,370][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:58:23,381][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:23,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:58:23,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:58:23,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:23,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:58:23,434][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:58:23,445][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:23,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:58:23,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:58:23,477][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:58:23,488][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:58:23,488][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 02:58:23,488][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 02:58:23,488][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:58:23,542][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 02:58:23,596][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 02:58:23,650][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 02:58:23,703][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 02:58:23,756][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 02:58:23,810][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 02:58:23,864][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 02:58:23,864][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 02:58:23,864][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:58:23,864][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:58:23,875][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:58:23,880][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:58:23,886][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:58:23,892][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:58:23,898][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:58:23,904][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:58:23,910][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:58:23,915][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=-0.07521367521367495, 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 02:58:23,915][root][INFO] - current_pos: [-0.042153047989623715, -0.000953688868543523, 0.000953688868543523, 0.004768444342717615, -0.06733043411917272, -0.018120088502326936, 0.7131685358968483] +[2026-09-25 02:58:23,915][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:58:23,915][root][INFO] - starting separate thread for control loop +[2026-09-25 02:58:24,016][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=-0.042153047989623715, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790276304.016259), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=-0.0013351644159644849, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1790276304.016259), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1790276304.016259), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.004768444342717615, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1790276304.016259), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.06733043411917272, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790276304.016259), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.018501564049740793, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790276304.016259), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.7131685358968483, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790276304.016259)] +[2026-09-25 02:58:24,016][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:58:24,016][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.7132 +[2026-09-25 02:58:24,016][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:58:24,642][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-25 02:58:24,942][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:58:25,570][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 02:58:25,871][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.01163500419623098) +[2026-09-25 02:58:25,871][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.011635 ] +[2026-09-25 02:58:25,998][root][INFO] - initializing, .... +[2026-09-25 02:58:33,264][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.10 Hz +[2026-09-25 02:58:36,004][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.59 Hz +[2026-09-25 02:58:43,262][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.89 Hz +[2026-09-25 02:58:46,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.95 Hz +[2026-09-25 02:58:51,061][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.26 iterations per second over 30.00 seconds. +[2026-09-25 02:58:51,062][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003857 s, max step_time: 0.061247 s +[2026-09-25 02:58:53,266][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.59 Hz +[2026-09-25 02:58:53,919][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.01 iterations per second over 30.00 seconds. +[2026-09-25 02:58:53,919][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003906 s, max step_time: 0.062520 s +[2026-09-25 02:58:56,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.99 Hz +[2026-09-25 02:58:57,210][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.99 iterations per second over 3.29 seconds. +[2026-09-25 02:58:57,213][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.98 iterations per second over 6.15 seconds. +[2026-09-25 02:59:17,369][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-25 02:59:17,371][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-25 02:59:17,371][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-25 02:59:17,371][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-25 02:59:17,371][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-25 02:59:17,371][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-25 02:59:17,371][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-25 02:59:17,371][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-25 02:59:17,371][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 02:59:17,372][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-25 02:59:17,372][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-25 02:59:17,372][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-25 02:59:17,372][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-25 02:59:17,372][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-25 02:59:17,372][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-25 02:59:17,372][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 02:59:17,373][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 02:59:17,373][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 02:59:17,373][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:59:17,373][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:59:17,373][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:59:17,373][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:59:17,373][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:59:17,373][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:59:17,373][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:59:17,373][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:59:17,373][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:59:17,373][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:59:17,373][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-25 02:59:17,373][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 02:59:17,374][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:59:17,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:59:17,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-25 02:59:17,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:59:17,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:59:17,431][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:17,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:59:17,453][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:59:17,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:17,475][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:59:17,487][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:59:17,498][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:17,509][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:59:17,520][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:59:17,531][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:17,542][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:59:17,553][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:59:17,564][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:17,576][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:59:17,587][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:59:17,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:17,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:59:17,609][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-25 02:59:17,609][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 02:59:17,610][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:59:17,665][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 02:59:17,720][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 02:59:17,775][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 02:59:17,829][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 02:59:17,882][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 02:59:17,936][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 02:59:17,991][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 02:59:17,991][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 02:59:17,991][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:59:17,991][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:59:18,002][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:59:18,007][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:59:18,013][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:59:18,019][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:59:18,025][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:59:18,031][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:59:18,037][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:59:18,043][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, 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 02:59:18,044][root][INFO] - current_pos: [-0.023842221713588074, -0.0001907377737087046, 0.0017166399633783413, 0.004768444342717615, -0.028419928282596985, 0.20122835126268335, -0.0013351644159609322] +[2026-09-25 02:59:18,044][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:59:18,044][root][INFO] - starting separate thread for control loop +[2026-09-25 02:59:18,144][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.03418803418803407, pos=-0.023842221713588074, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790276358.1445417), 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=1790276358.1445417), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1790276358.1445417), 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=35.0, timestamp=1790276358.1445417), 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=1790276358.1445417), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.20122835126268335, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790276358.1445417), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790276358.1445417)] +[2026-09-25 02:59:18,144][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:59:18,144][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013 +[2026-09-25 02:59:18,144][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:59:18,770][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-25 02:59:19,070][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:59:19,700][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-25 02:59:20,000][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174639479) +[2026-09-25 02:59:20,000][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-25 02:59:20,238][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 02:59:20,238][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 02:59:20,238][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-25 02:59:20,238][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-25 02:59:20,238][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-25 02:59:20,238][root][INFO] - initializing, .... +[2026-09-25 02:59:20,238][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-25 02:59:20,238][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-25 02:59:20,238][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-25 02:59:20,238][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-25 02:59:20,238][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-25 02:59:20,238][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-25 02:59:20,238][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-25 02:59:20,239][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-25 02:59:20,239][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 02:59:20,239][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:59:20,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-25 02:59:20,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:20,271][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:59:20,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-25 02:59:20,293][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:20,304][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:59:20,315][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-25 02:59:20,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:20,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-25 02:59:20,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-25 02:59:20,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:20,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:59:20,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-25 02:59:20,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:20,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:59:20,412][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-25 02:59:20,423][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:20,434][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:59:20,445][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-25 02:59:20,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-25 02:59:20,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-25 02:59:20,467][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-25 02:59:20,467][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 02:59:20,467][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:59:20,521][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 02:59:20,574][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 02:59:20,628][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 02:59:20,681][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 02:59:20,735][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 02:59:20,788][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 02:59:20,842][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 02:59:20,842][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 02:59:20,842][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-25 02:59:20,842][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-25 02:59:20,853][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-25 02:59:20,858][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-25 02:59:20,864][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-25 02:59:20,870][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-25 02:59:20,876][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-25 02:59:20,882][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-25 02:59:20,888][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-25 02:59:20,894][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-25 02:59:20,894][root][INFO] - current_pos: [-0.03566796368352776, -0.0013351644159609322, 0.000953688868543523, 0.004386968795300206, -0.06771190966659013, 0.08373388265812132, 0.6387808041504535] +[2026-09-25 02:59:20,894][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-25 02:59:20,894][root][INFO] - starting separate thread for control loop +[2026-09-25 02:59:20,994][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.06153846153846132, pos=-0.03566796368352776, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790276360.9944634), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.08888888888888857, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1790276360.9944634), 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=33.0, timestamp=1790276360.9944634), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.004386968795300206, voltage=-1, temp_mos=34.0, temp_rotor=34.0, timestamp=1790276360.9944634), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06771190966659013, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790276360.9944634), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.08373388265812132, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790276360.9944634), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.6387808041504535, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790276360.9944634)] +[2026-09-25 02:59:20,994][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-25 02:59:20,994][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.6388 +[2026-09-25 02:59:20,994][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-25 02:59:21,674][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550 +[2026-09-25 02:59:21,974][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-25 02:59:22,598][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116 +[2026-09-25 02:59:22,898][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011635004196227428) +[2026-09-25 02:59:22,898][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.011635 ] +[2026-09-25 02:59:23,023][root][INFO] - initializing, .... +[2026-09-25 02:59:30,240][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.77 Hz +[2026-09-25 02:59:33,026][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.07 Hz +[2026-09-25 02:59:40,244][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.21 Hz +[2026-09-25 02:59:43,030][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.34 Hz +[2026-09-25 02:59:48,047][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.11 iterations per second over 30.00 seconds. +[2026-09-25 02:59:48,047][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003904 s, max step_time: 0.067689 s +[2026-09-25 02:59:50,249][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.21 Hz +[2026-09-25 02:59:50,392][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 02:59:50,393][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 02:59:50,898][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.07 iterations per second over 30.00 seconds. +[2026-09-25 02:59:50,898][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003967 s, max step_time: 0.068155 s +[2026-09-25 02:59:53,031][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.66 Hz +[2026-09-25 03:00:00,251][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 03:00:03,032][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.25 Hz +[2026-09-25 03:00:10,253][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.14 Hz +[2026-09-25 03:00:13,034][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.87 Hz +[2026-09-25 03:00:18,050][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.31 iterations per second over 30.00 seconds. +[2026-09-25 03:00:18,050][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003842 s, max step_time: 0.025684 s +[2026-09-25 03:00:20,255][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.74 Hz +[2026-09-25 03:00:20,899][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.35 iterations per second over 30.00 seconds. +[2026-09-25 03:00:20,900][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003812 s, max step_time: 0.007160 s +[2026-09-25 03:00:23,037][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.62 Hz +[2026-09-25 03:00:30,258][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 +[2026-09-25 03:00:33,039][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.43 Hz +[2026-09-25 03:00:40,259][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.25 Hz +[2026-09-25 03:00:43,042][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.62 Hz +[2026-09-25 03:00:48,054][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.20 iterations per second over 30.00 seconds. +[2026-09-25 03:00:48,054][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003828 s, max step_time: 0.007800 s +[2026-09-25 03:00:50,261][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.75 Hz +[2026-09-25 03:00:50,901][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.02 iterations per second over 30.00 seconds. +[2026-09-25 03:00:50,901][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003831 s, max step_time: 0.007998 s +[2026-09-25 03:00:53,044][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.66 Hz +[2026-09-25 03:01:00,266][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 +[2026-09-25 03:01:03,047][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.81 Hz +[2026-09-25 03:01:10,264][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.19 Hz +[2026-09-25 03:01:13,050][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.42 Hz +[2026-09-25 03:01:18,056][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.11 iterations per second over 30.00 seconds. +[2026-09-25 03:01:18,056][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003935 s, max step_time: 0.009205 s +[2026-09-25 03:01:20,266][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.18 Hz +[2026-09-25 03:01:20,903][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.66 iterations per second over 30.00 seconds. +[2026-09-25 03:01:20,903][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003974 s, max step_time: 0.008366 s +[2026-09-25 03:01:21,566][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 03:01:21,566][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 03:01:23,052][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.25 Hz +[2026-09-25 03:01:30,266][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.99 Hz +[2026-09-25 03:01:31,262][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 263.15 iterations per second over 10.36 seconds. +[2026-09-25 03:01:31,268][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.78 iterations per second over 13.21 seconds. diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/runtime/output.lock b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0001/action/executed_action_dict.pkl b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0001/action/executed_action_dict.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9ff1514d11c47b06cedae0e0bb60dbd0e0c5f07f Binary files /dev/null and b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0001/action/executed_action_dict.pkl differ diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0001/camera/metadata.json b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0001/camera/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5ae086f1ce9378b01267b5ec80027421a177cd6a --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0001/camera/metadata.json @@ -0,0 +1,59 @@ +{ + "base_0_rgb": { + "codec": "h264", + "container": "mp4", + "encoder": "libx264", + "encoding": "bgr8", + "frames": 309, + "height": 480, + "lossless": false, + "pixel_format": "yuv420p", + "quality": { + "mode": "crf", + "value": 14 + }, + "timestamp_policy": "shared_by_complete_physical_camera_bundle", + "timestamps": "camera/timestamp.pkl::base_0", + "topic": "/prometheus/sensors/cameras/base_0/color/image_raw", + "video": "camera/base_0_rgb.mp4", + "width": 640 + }, + "left_wrist_0_rgb": { + "codec": "h264", + "container": "mp4", + "encoder": "libx264", + "encoding": "bgr8", + "frames": 309, + "height": 480, + "lossless": false, + "pixel_format": "yuv420p", + "quality": { + "mode": "crf", + "value": 14 + }, + "timestamp_policy": "shared_by_complete_physical_camera_bundle", + "timestamps": "camera/timestamp.pkl::left_wrist_0", + "topic": 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b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0001/camera/timestamp.pkl differ diff --git a/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0001/debug/actions.jsonl b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0001/debug/actions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2aec0db3e2a6250b02368fdc3b8ae95c6307e515 --- /dev/null +++ b/eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/sweep_sponge/data/round_0001/debug/actions.jsonl @@ -0,0 +1,296 @@ +{"chunk": 0, "index": 0, "time_ns": 1790259334671236773, "target": [-0.004772907588630915, 0.011733331717550755, 0.004498790949583054, 0.008253451436758041, -0.0017170169157907367, 0.032854460179805756, 0.09558144211769104, -0.0018753993790596724, -0.018189067021012306, -0.005216527264565229, 0.02325638197362423, 0.006354475859552622, -0.03877783194184303, 0.09426316618919373], "feedback": [-0.010872052982449532, 0.00667582219466567, 0.012397955171763897, 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\"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_handover.py\", line 186, in await_operator\n check() # Includes live hold heartbeat until direct teaching is confirmed.\n ^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 403, in check\n check_policy_control(hardware.robot_driver._policy_control)\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 169, in check_policy_control\n control.check()\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/nodes/robots/yam_policy_control.py\", line 141, in check\n raise RuntimeError(self.fault)\nRuntimeError: position limit exceeded at indices [13]: positions=[0.09600695500978043], bounds=[[0.0, 0.096]]; source=measured_feedback, mode=drag\n", + "hardware_at_failure": { + "details": { + "cleanup_errors": [], + "robot_client": { + "action_space": "abs_qpos", + "closed": false, + "command_source": 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