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"robot_samples": { + "left": 698, + "right": 698 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789658526.7269347 + } +} diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/data/round_0021/manifests/tactile.json b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/data/round_0021/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/data/round_0021/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/data/round_0021/workflow_manifest.json b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/data/round_0021/workflow_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..600ccaab9d09015c0a2adcb12d6789691f0abc5d --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/data/round_0021/workflow_manifest.json @@ -0,0 +1,1508 @@ +{ + 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b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,239 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the right arm to pick up the bowl, hand it over to the left arm, and + place it on the plate to the left. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${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 + 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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: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: 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/V2/pi0.5_2500/catch_and_place_bowl/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3f4c773f5477e48988ecbf915d17182c0aee15b --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +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 bowl, hand it over to the left + arm, and place it on the plate to the left." + - run.output_dir=outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl + 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 bowl, hand it over to the left arm, and place it + on the plate to the left.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl,run.steps=40 + id: ??? + num: ??? + config_name: openpi_seven_tasks_2500 + 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/seven_tasks_2500/catch_and_place_bowl/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6e3adf3696b730642fbed2085bacf71bc5219a87 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Use the right arm to pick up the bowl, hand it over to the left arm, + and place it on the plate to the left." +- run.output_dir=outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..600f128a33d0e0d658d23c640740a91a5e219d9b --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/hydra/openpi_rollout.log @@ -0,0 +1,478 @@ +[2026-09-17 23:24:15,035][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 23:24:15,036][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 23:24:15,036][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 23:24:15,036][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 23:24:15,036][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 23:24:15,036][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 23:24:15,036][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 23:24:15,036][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 23:24:15,036][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 23:24:15,037][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 23:24:15,037][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 23:24:15,037][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 23:24:15,037][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 23:24:15,037][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 23:24:15,037][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 23:24:15,037][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} +[2026-09-17 23:24:15,038][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 +[2026-09-17 23:24:15,038][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 +[2026-09-17 23:24:15,038][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:24:15,038][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:24:15,038][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:24:15,038][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:24:15,038][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:24:15,038][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:24:15,038][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:24:15,038][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:24:15,038][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:24:15,038][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:24:15,038][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 23:24:15,039][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 +[2026-09-17 23:24:15,039][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:24:15,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:24:15,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 23:24:15,073][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:24:15,084][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:24:15,096][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:15,107][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:24:15,118][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:24:15,129][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:15,140][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:24:15,151][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:24:15,162][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:15,173][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:24:15,184][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:24:15,195][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:15,206][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:24:15,217][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:24:15,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:15,240][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:24:15,251][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:24:15,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:15,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:24:15,272][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 23:24:15,272][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 +[2026-09-17 23:24:15,273][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:24:15,326][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 +[2026-09-17 23:24:15,380][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 +[2026-09-17 23:24:15,434][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 +[2026-09-17 23:24:15,488][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 +[2026-09-17 23:24:15,542][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 +[2026-09-17 23:24:15,596][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 +[2026-09-17 23:24:15,650][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 +[2026-09-17 23:24:15,650][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) +[2026-09-17 23:24:15,650][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:24:15,650][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:24:15,661][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:24:15,666][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:24:15,672][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:24:15,679][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:24:15,685][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:24:15,691][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:24:15,697][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:24:15,703][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, 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)] +[2026-09-17 23:24:15,704][root][INFO] - current_pos: [-0.0013351644159609322, -0.000953688868543523, 0.0017166399633783413, 0.0013351644159609322, 0.03032730601968403, 0.05245288776989376, 0.0001907377737087046] +[2026-09-17 23:24:15,704][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:24:15,704][root][INFO] - starting separate thread for control loop +[2026-09-17 23:24:15,804][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=24.0, timestamp=1789658655.804907), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789658655.804907), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1789658655.804907), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789658655.804907), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.03032730601968403, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789658655.804907), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.05245288776989376, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789658655.804907), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789658655.804907)] +[2026-09-17 23:24:15,805][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:24:15,805][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0002 +[2026-09-17 23:24:15,805][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:24:16,487][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-17 23:24:16,787][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:24:17,417][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 23:24:17,717][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.278667887388419, -0.007057297627218517) +[2026-09-17 23:24:17,717][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27866789 -0.0070573 ] +[2026-09-17 23:24:17,951][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 +[2026-09-17 23:24:17,951][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 +[2026-09-17 23:24:17,951][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:24:17,951][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:24:17,951][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:24:17,951][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:24:17,951][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:24:17,951][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:24:17,951][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:24:17,951][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:24:17,951][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:24:17,951][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:24:17,951][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 23:24:17,951][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 +[2026-09-17 23:24:17,952][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:24:17,953][root][INFO] - initializing, .... +[2026-09-17 23:24:17,963][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:24:17,974][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:17,985][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:24:17,996][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:24:18,006][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:18,017][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:24:18,028][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:24:18,039][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:18,049][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:24:18,060][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:24:18,071][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:18,082][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:24:18,092][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:24:18,103][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:18,114][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:24:18,124][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:24:18,135][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:18,146][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:24:18,157][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:24:18,167][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:24:18,178][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:24:18,178][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 23:24:18,178][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 +[2026-09-17 23:24:18,178][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:24:18,232][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 +[2026-09-17 23:24:18,286][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 +[2026-09-17 23:24:18,339][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 +[2026-09-17 23:24:18,393][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 +[2026-09-17 23:24:18,446][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 +[2026-09-17 23:24:18,500][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 +[2026-09-17 23:24:18,553][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 +[2026-09-17 23:24:18,553][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) +[2026-09-17 23:24:18,554][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:24:18,554][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:24:18,564][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:24:18,570][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:24:18,576][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:24:18,582][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:24:18,588][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:24:18,593][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:24:18,599][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:24:18,606][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 23:24:18,606][root][INFO] - current_pos: [0.02040894178683139, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, 0.0024795910582131597, -0.05321583886472858, -0.000953688868543523] +[2026-09-17 23:24:18,606][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:24:18,606][root][INFO] - starting separate thread for control loop +[2026-09-17 23:24:18,706][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.04786324786324769, pos=0.02040894178683139, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789658658.7065682), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789658658.7065682), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789658658.7065682), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789658658.7065682), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789658658.7065682), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.05321583886472858, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789658658.7065682), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789658658.7065682)] +[2026-09-17 23:24:18,706][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:24:18,706][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-17 23:24:18,706][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:24:19,368][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2535 +[2026-09-17 23:24:19,668][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:24:20,288][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 23:24:20,588][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.30804150453956, -0.01087205310139261) +[2026-09-17 23:24:20,588][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.3080415 -0.01087205] +[2026-09-17 23:24:20,712][root][INFO] - initializing, .... +[2026-09-17 23:24:27,955][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.15 Hz +[2026-09-17 23:24:30,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.18 Hz +[2026-09-17 23:24:37,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.93 Hz +[2026-09-17 23:24:39,214][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] +[2026-09-17 23:24:39,214][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] +[2026-09-17 23:24:40,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.49 Hz +[2026-09-17 23:24:45,707][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.24 iterations per second over 30.00 seconds. +[2026-09-17 23:24:45,708][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003980 s, max step_time: 0.075449 s +[2026-09-17 23:24:47,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.91 Hz +[2026-09-17 23:24:48,608][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.95 iterations per second over 30.00 seconds. +[2026-09-17 23:24:48,608][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.004033 s, max step_time: 0.073811 s +[2026-09-17 23:24:50,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.58 Hz +[2026-09-17 23:24:57,965][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.92 Hz +[2026-09-17 23:25:00,719][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.24 Hz +[2026-09-17 23:25:07,967][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.97 Hz +[2026-09-17 23:25:10,722][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.93 Hz +[2026-09-17 23:25:15,709][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.85 iterations per second over 30.00 seconds. +[2026-09-17 23:25:15,709][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003878 s, max step_time: 0.007455 s +[2026-09-17 23:25:17,968][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.64 Hz +[2026-09-17 23:25:18,612][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.13 iterations per second over 30.00 seconds. +[2026-09-17 23:25:18,612][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003874 s, max step_time: 0.007512 s +[2026-09-17 23:25:20,725][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.42 Hz +[2026-09-17 23:25:27,971][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.15 Hz +[2026-09-17 23:25:30,727][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.08 Hz +[2026-09-17 23:25:37,972][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.55 Hz +[2026-09-17 23:25:40,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.74 Hz +[2026-09-17 23:25:45,709][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.13 iterations per second over 30.00 seconds. +[2026-09-17 23:25:45,710][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003874 s, max step_time: 0.008104 s +[2026-09-17 23:25:47,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.52 Hz +[2026-09-17 23:25:48,613][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.69 iterations per second over 30.00 seconds. +[2026-09-17 23:25:50,730][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 +[2026-09-17 23:25:57,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.62 Hz +[2026-09-17 23:26:00,735][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.49 Hz +[2026-09-17 23:26:07,981][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.92 Hz +[2026-09-17 23:26:10,739][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.89 Hz +[2026-09-17 23:26:15,710][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.06 iterations per second over 30.00 seconds. +[2026-09-17 23:26:15,710][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003875 s, max step_time: 0.007029 s +[2026-09-17 23:26:15,978][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003886 s, max step_time: 0.007456 s +[2026-09-17 23:26:17,984][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.55 Hz +[2026-09-17 23:26:18,617][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.97 iterations per second over 30.00 seconds. +[2026-09-17 23:26:20,739][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.38 Hz +[2026-09-17 23:26:27,986][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 +[2026-09-17 23:26:30,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.62 Hz +[2026-09-17 23:26:37,988][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.94 Hz +[2026-09-17 23:26:40,747][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.10 Hz +[2026-09-17 23:26:45,714][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.81 iterations per second over 30.00 seconds. +[2026-09-17 23:26:45,714][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003879 s, max step_time: 0.007336 s +[2026-09-17 23:26:47,989][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.70 Hz +[2026-09-17 23:26:48,619][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.04 iterations per second over 30.00 seconds. +[2026-09-17 23:26:50,747][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.88 Hz +[2026-09-17 23:26:57,989][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.58 Hz +[2026-09-17 23:27:00,750][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.72 Hz +[2026-09-17 23:27:07,992][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.52 Hz +[2026-09-17 23:27:10,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.40 Hz +[2026-09-17 23:27:15,715][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.25 iterations per second over 30.00 seconds. +[2026-09-17 23:27:15,716][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003872 s, max step_time: 0.008957 s +[2026-09-17 23:27:17,993][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.27 Hz +[2026-09-17 23:27:18,621][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.19 iterations per second over 30.00 seconds. +[2026-09-17 23:27:20,355][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: 0.007039 s +[2026-09-17 23:27:20,753][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.72 Hz +[2026-09-17 23:27:27,996][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.92 Hz +[2026-09-17 23:27:30,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.97 Hz +[2026-09-17 23:27:37,999][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.67 Hz +[2026-09-17 23:27:40,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.08 Hz +[2026-09-17 23:27:45,718][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.28 iterations per second over 30.00 seconds. +[2026-09-17 23:27:46,505][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003873 s, max step_time: 0.007100 s +[2026-09-17 23:27:47,999][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.55 Hz +[2026-09-17 23:27:48,624][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.84 iterations per second over 30.00 seconds. +[2026-09-17 23:27:50,356][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003882 s, max step_time: 0.009416 s +[2026-09-17 23:27:50,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.58 Hz +[2026-09-17 23:27:58,002][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.81 Hz +[2026-09-17 23:28:00,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.33 Hz +[2026-09-17 23:28:08,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.82 Hz +[2026-09-17 23:28:10,762][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.72 Hz +[2026-09-17 23:28:15,721][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.04 iterations per second over 30.00 seconds. +[2026-09-17 23:28:16,505][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.003842 s, max step_time: 0.010212 s +[2026-09-17 23:28:18,007][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 +[2026-09-17 23:28:18,626][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.35 iterations per second over 30.00 seconds. +[2026-09-17 23:28:20,359][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.003834 s, max step_time: 0.010135 s +[2026-09-17 23:28:20,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.46 Hz +[2026-09-17 23:28:28,009][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 +[2026-09-17 23:28:30,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.28 Hz +[2026-09-17 23:28:38,012][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.01 Hz +[2026-09-17 23:28:40,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.80 Hz +[2026-09-17 23:28:45,722][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.99 iterations per second over 30.00 seconds. +[2026-09-17 23:28:46,506][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 61 times, mean step_time: 0.003865 s, max step_time: 0.011080 s +[2026-09-17 23:28:48,013][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 +[2026-09-17 23:28:48,629][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.91 iterations per second over 30.00 seconds. +[2026-09-17 23:28:50,364][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 67 times, mean step_time: 0.003886 s, max step_time: 0.011090 s +[2026-09-17 23:28:50,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.03 Hz +[2026-09-17 23:28:57,097][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.20 iterations per second over 8.47 seconds. +[2026-09-17 23:28:57,104][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.18 iterations per second over 11.38 seconds. +[2026-09-17 23:31:59,407][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 23:31:59,408][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 23:31:59,408][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 23:31:59,408][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 23:31:59,408][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 23:31:59,408][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 23:31:59,408][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 23:31:59,408][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 23:31:59,408][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 23:31:59,409][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 23:31:59,409][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 23:31:59,409][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 23:31:59,409][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 23:31:59,409][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 23:31:59,409][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 23:31:59,409][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} +[2026-09-17 23:31:59,410][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 +[2026-09-17 23:31:59,410][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 +[2026-09-17 23:31:59,410][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:31:59,410][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:31:59,410][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:31:59,410][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:31:59,410][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:31:59,410][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:31:59,410][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:31:59,410][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:31:59,410][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:31:59,410][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:31:59,410][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 23:31:59,410][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 +[2026-09-17 23:31:59,411][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:31:59,423][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:31:59,434][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 23:31:59,445][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:31:59,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:31:59,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:31:59,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:31:59,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:31:59,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:31:59,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:31:59,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:31:59,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:31:59,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:31:59,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:31:59,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:31:59,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:31:59,589][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:31:59,600][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:31:59,611][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:31:59,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:31:59,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:31:59,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:31:59,644][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 23:31:59,645][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 +[2026-09-17 23:31:59,645][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:31:59,700][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 +[2026-09-17 23:31:59,756][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 +[2026-09-17 23:31:59,811][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 +[2026-09-17 23:31:59,866][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 +[2026-09-17 23:31:59,921][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 +[2026-09-17 23:31:59,976][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 +[2026-09-17 23:32:00,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:32:00,032][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) +[2026-09-17 23:32:00,032][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:32:00,032][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:32:00,043][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:32:00,048][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:32:00,055][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:32:00,063][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:32:00,069][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:32:00,075][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:32:00,081][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:32:00,087][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, 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)] +[2026-09-17 23:32:00,087][root][INFO] - current_pos: [0.09288929579613914, -0.000953688868543523, 0.0017166399633783413, 0.000953688868543523, 0.0001907377737087046, 0.17147325856412543, 0.019645990691996573] +[2026-09-17 23:32:00,087][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:32:00,087][root][INFO] - starting separate thread for control loop +[2026-09-17 23:32:00,188][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.09288929579613914, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789659120.188274), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789659120.188274), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789659120.188274), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789659120.188274), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789659120.188274), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.17147325856412543, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659120.188274), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.019645990691996573, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789659120.188274)] +[2026-09-17 23:32:00,188][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:32:00,188][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0196 +[2026-09-17 23:32:00,188][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:32:00,816][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 23:32:01,116][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:32:01,746][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 23:32:02,046][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.274471656366828, -0.007057297627218517) +[2026-09-17 23:32:02,046][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27447166 -0.0070573 ] +[2026-09-17 23:32:02,283][root][INFO] - initializing, .... +[2026-09-17 23:32:02,284][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 +[2026-09-17 23:32:02,284][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 +[2026-09-17 23:32:02,284][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:32:02,284][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:32:02,284][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:32:02,284][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:32:02,284][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:32:02,284][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:32:02,284][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:32:02,284][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:32:02,284][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:32:02,284][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:32:02,284][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 23:32:02,284][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 +[2026-09-17 23:32:02,284][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:32:02,295][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:32:02,306][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:32:02,317][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:32:02,327][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:32:02,338][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:32:02,349][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:32:02,360][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:32:02,370][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:32:02,381][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:32:02,392][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:32:02,403][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:32:02,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:32:02,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:32:02,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:32:02,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:32:02,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:32:02,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:32:02,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:32:02,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:32:02,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:32:02,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:32:02,511][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 23:32:02,511][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 +[2026-09-17 23:32:02,511][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:32:02,565][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 +[2026-09-17 23:32:02,618][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 +[2026-09-17 23:32:02,672][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 +[2026-09-17 23:32:02,725][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 +[2026-09-17 23:32:02,779][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 +[2026-09-17 23:32:02,832][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 +[2026-09-17 23:32:02,886][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 +[2026-09-17 23:32:02,886][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) +[2026-09-17 23:32:02,886][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:32:02,886][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:32:02,897][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:32:02,902][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:32:02,908][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:32:02,914][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:32:02,920][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:32:02,925][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:32:02,931][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:32:02,937][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)] +[2026-09-17 23:32:02,937][root][INFO] - current_pos: [0.03643091477836258, -0.0013351644159609322, 0.0005722133211261138, 0.0013351644159609322, 0.0017166399633783413, 0.07610437170977313, 0.3995956359197379] +[2026-09-17 23:32:02,937][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:32:02,937][root][INFO] - starting separate thread for control loop +[2026-09-17 23:32:03,038][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=0.03643091477836258, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789659123.0383286), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659123.0383286), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789659123.0383286), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789659123.0383286), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789659123.0383286), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.07610437170977313, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659123.0383286), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.3995956359197379, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789659123.0383286)] +[2026-09-17 23:32:03,038][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:32:03,038][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.3996 +[2026-09-17 23:32:03,038][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:32:03,710][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-17 23:32:04,010][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:32:04,638][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-17 23:32:04,938][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253109025711453, -0.011253528648817124) +[2026-09-17 23:32:04,939][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25310903 -0.01125353] +[2026-09-17 23:32:05,062][root][INFO] - initializing, .... +[2026-09-17 23:32:12,287][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.05 Hz +[2026-09-17 23:32:15,068][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.81 Hz +[2026-09-17 23:32:22,289][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.97 Hz +[2026-09-17 23:32:25,072][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 +[2026-09-17 23:32:29,192][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:32:29,192][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:32:30,088][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.30 iterations per second over 30.00 seconds. +[2026-09-17 23:32:30,088][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.003995 s, max step_time: 0.073468 s +[2026-09-17 23:32:32,290][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.75 Hz +[2026-09-17 23:32:32,939][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.06 iterations per second over 30.00 seconds. +[2026-09-17 23:32:32,939][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.004047 s, max step_time: 0.064095 s +[2026-09-17 23:32:35,070][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.99 Hz +[2026-09-17 23:32:42,292][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.27 Hz +[2026-09-17 23:32:45,073][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.82 Hz +[2026-09-17 23:32:52,295][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.81 Hz +[2026-09-17 23:32:55,076][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.66 Hz +[2026-09-17 23:32:59,270][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] +[2026-09-17 23:32:59,270][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] +[2026-09-17 23:33:00,089][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.46 iterations per second over 30.00 seconds. +[2026-09-17 23:33:00,089][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004025 s, max step_time: 0.024207 s +[2026-09-17 23:33:02,298][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.01 Hz +[2026-09-17 23:33:02,939][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.23 iterations per second over 30.00 seconds. +[2026-09-17 23:33:02,939][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.004028 s, max step_time: 0.019654 s +[2026-09-17 23:33:05,077][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.96 Hz +[2026-09-17 23:33:12,301][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.56 Hz +[2026-09-17 23:33:15,080][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.70 Hz +[2026-09-17 23:33:22,303][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.93 Hz +[2026-09-17 23:33:25,085][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.78 Hz +[2026-09-17 23:33:30,092][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.97 iterations per second over 30.00 seconds. +[2026-09-17 23:33:30,151][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003825 s, max step_time: 0.061935 s +[2026-09-17 23:33:32,306][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.03 Hz +[2026-09-17 23:33:32,941][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.95 iterations per second over 30.00 seconds. +[2026-09-17 23:33:32,941][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003832 s, max step_time: 0.007268 s +[2026-09-17 23:33:35,085][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.30 Hz +[2026-09-17 23:33:42,308][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.45 Hz +[2026-09-17 23:33:45,087][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.07 Hz +[2026-09-17 23:33:52,311][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.54 Hz +[2026-09-17 23:33:55,088][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.39 Hz +[2026-09-17 23:34:00,093][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.89 iterations per second over 30.00 seconds. +[2026-09-17 23:34:00,154][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003994 s, max step_time: 0.009280 s +[2026-09-17 23:34:02,313][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.12 Hz +[2026-09-17 23:34:02,943][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.82 iterations per second over 30.00 seconds. +[2026-09-17 23:34:02,943][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004019 s, max step_time: 0.009437 s +[2026-09-17 23:34:05,088][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.66 Hz +[2026-09-17 23:34:05,903][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] +[2026-09-17 23:34:05,903][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] +[2026-09-17 23:34:12,316][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.54 Hz +[2026-09-17 23:34:15,088][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.80 Hz +[2026-09-17 23:34:22,320][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.91 Hz +[2026-09-17 23:34:25,090][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 +[2026-09-17 23:34:30,096][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.58 iterations per second over 30.00 seconds. +[2026-09-17 23:34:30,155][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003912 s, max step_time: 0.024632 s +[2026-09-17 23:34:32,320][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.00 Hz +[2026-09-17 23:34:32,945][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.41 iterations per second over 30.00 seconds. +[2026-09-17 23:34:32,946][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003900 s, max step_time: 0.043551 s +[2026-09-17 23:34:35,094][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.93 Hz +[2026-09-17 23:34:42,323][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.29 Hz +[2026-09-17 23:34:45,099][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.93 Hz +[2026-09-17 23:34:52,323][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.42 Hz +[2026-09-17 23:34:55,098][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.64 Hz +[2026-09-17 23:35:00,097][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.89 iterations per second over 30.00 seconds. +[2026-09-17 23:35:00,155][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004035 s, max step_time: 0.008941 s +[2026-09-17 23:35:01,473][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] +[2026-09-17 23:35:01,473][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] +[2026-09-17 23:35:02,324][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.29 Hz +[2026-09-17 23:35:02,949][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.71 iterations per second over 30.00 seconds. +[2026-09-17 23:35:02,949][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.004053 s, max step_time: 0.027544 s +[2026-09-17 23:35:05,102][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.62 Hz +[2026-09-17 23:35:12,325][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.58 Hz +[2026-09-17 23:35:15,103][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.37 Hz +[2026-09-17 23:35:22,327][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.66 Hz +[2026-09-17 23:35:25,105][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.33 Hz +[2026-09-17 23:35:25,325][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.42 iterations per second over 22.38 seconds. +[2026-09-17 23:35:25,333][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.40 iterations per second over 25.24 seconds. diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/rounds.json b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..e0de67cd22192588a6a93e4fb6ebf3499f776987 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/rounds.json @@ -0,0 +1,158 @@ +{ + "rounds": [ + { + "actions_sent": 500, + "chunks": 16, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0001", + "reviewed_at_ns": 1789658679218510699, + "round_number": 1, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 618, + "chunks": 20, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0015", + "reviewed_at_ns": 1789658319228621455, + "round_number": 15, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 495, + "chunks": 16, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0016", + "reviewed_at_ns": 1789658346822707786, + "round_number": 16, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 477, + "chunks": 15, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0017", + "reviewed_at_ns": 1789658375720044254, + "round_number": 17, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 605, + "chunks": 20, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0018", + "reviewed_at_ns": 1789658411890045159, + "round_number": 18, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 457, + "chunks": 15, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0019", + "reviewed_at_ns": 1789658455031895283, + "round_number": 19, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 504, + "chunks": 16, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0020", + "reviewed_at_ns": 1789658494281690117, + "round_number": 20, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 152, + "chunks": 5, + "data_saved": true, + "operator_result": "failure", + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0021", + "reviewed_at_ns": 1789658530630661832, + "round_number": 21, + "status": "failed", + "task_success": false + }, + { + "actions_sent": 665, + "chunks": 22, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0022", + "reviewed_at_ns": 1789659149192535198, + "round_number": 22, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 517, + "chunks": 17, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0023", + "reviewed_at_ns": 1789659179279466768, + "round_number": 23, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 618, + "chunks": 20, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0024", + "reviewed_at_ns": 1789659245903729502, + "round_number": 24, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 729, + "chunks": 24, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_bowl/data/round_0025", + "reviewed_at_ns": 1789659301481442538, + "round_number": 25, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + } + ] +} diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/runtime/output.lock b/eval/YAM/V2/pi0.5_2500/catch_and_place_bowl/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0010/debug/actions.jsonl b/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/data/round_0010/debug/actions.jsonl new file mode 100644 index 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index 0000000000000000000000000000000000000000..6fa9aa5853277baf1e29388ee8db76d67135eb50 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/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/seven_tasks_2500/pick_and_place_banana + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Pick up the banana with the right arm and place it on the plate to the left. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${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: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: 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/V2/pi0.5_2500/pick_and_place_banana/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..263ce7056e9cd375081ed263431f28fa38c52a1a --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Pick up the banana with the right arm and place it on the plate + to the left." + - run.output_dir=outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Pick + up the banana with the right arm and place it on the plate to the left.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana,run.steps=40 + id: ??? + num: ??? + config_name: openpi_seven_tasks_2500 + 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/seven_tasks_2500/pick_and_place_banana/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6fe06541881454d0bba945d53ad4f252a484d096 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Pick up the banana with the right arm and place it on the plate to + the left." +- run.output_dir=outputs/openpi_rollout/seven_tasks_2500/pick_and_place_banana diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..6ab22ff025469c55e9ad08cab60081de53a9d4b2 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/metadata/hydra/openpi_rollout.log @@ -0,0 +1,625 @@ +[2026-09-17 23:58:21,274][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 23:58:21,276][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 23:58:21,276][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 23:58:21,276][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 23:58:21,276][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 23:58:21,276][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 23:58:21,276][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 23:58:21,276][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 23:58:21,276][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 23:58:21,277][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 23:58:21,277][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 23:58:21,277][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 23:58:21,277][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 23:58:21,277][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 23:58:21,277][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 23:58:21,277][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} +[2026-09-17 23:58:21,278][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 +[2026-09-17 23:58:21,278][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 +[2026-09-17 23:58:21,278][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:58:21,278][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:58:21,278][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:58:21,278][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:58:21,278][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:58:21,278][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:58:21,278][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:58:21,278][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:58:21,278][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:58:21,278][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:58:21,278][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 23:58:21,278][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 +[2026-09-17 23:58:21,279][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:58:21,290][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:58:21,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 23:58:21,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:58:21,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:58:21,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:21,346][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:58:21,357][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:58:21,368][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:21,379][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:58:21,390][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:58:21,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:21,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:58:21,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:58:21,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:21,447][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:58:21,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:58:21,469][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:21,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:58:21,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:58:21,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:21,513][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:58:21,513][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-17 23:58:21,513][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 +[2026-09-17 23:58:21,514][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:58:21,569][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 +[2026-09-17 23:58:21,624][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 +[2026-09-17 23:58:21,679][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 +[2026-09-17 23:58:21,733][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 +[2026-09-17 23:58:21,787][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 +[2026-09-17 23:58:21,841][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 +[2026-09-17 23:58:21,896][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 +[2026-09-17 23:58:21,896][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) +[2026-09-17 23:58:21,896][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:58:21,896][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:58:21,907][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:58:21,911][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:58:21,919][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:58:21,925][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:58:21,931][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:58:21,937][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:58:21,943][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:58:21,949][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, 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)] +[2026-09-17 23:58:21,949][root][INFO] - current_pos: [-0.06198977645532899, -0.000953688868543523, 0.0017166399633783413, 0.0005722133211261138, 0.005531395437552433, 0.003242542153047978, 0.022316319523918438] +[2026-09-17 23:58:21,949][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:58:21,949][root][INFO] - starting separate thread for control loop +[2026-09-17 23:58:22,050][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.06198977645532899, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789660702.0502288), 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=26.0, timestamp=1789660702.0502288), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789660702.0502288), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789660702.0502288), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.005531395437552433, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789660702.0502288), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.003242542153047978, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789660702.0502288), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.022316319523918438, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789660702.0502288)] +[2026-09-17 23:58:22,050][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:58:22,050][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-17 23:58:22,050][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:58:22,674][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-17 23:58:23,008][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:58:23,637][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 23:58:23,938][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.00705729762722207) +[2026-09-17 23:58:23,938][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.0070573 ] +[2026-09-17 23:58:24,174][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 +[2026-09-17 23:58:24,174][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 +[2026-09-17 23:58:24,174][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:58:24,174][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:58:24,174][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:58:24,174][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:58:24,174][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:58:24,174][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:58:24,174][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:58:24,175][root][INFO] - initializing, .... +[2026-09-17 23:58:24,175][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:58:24,175][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:58:24,175][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:58:24,175][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 23:58:24,175][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 +[2026-09-17 23:58:24,175][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:58:24,186][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:58:24,197][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:24,208][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:58:24,218][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:58:24,229][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:24,240][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:58:24,251][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:58:24,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:24,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:58:24,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:58:24,294][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:24,304][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:58:24,315][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:58:24,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:24,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:58:24,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:58:24,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:24,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:58:24,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:58:24,390][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:58:24,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:58:24,401][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 23:58:24,401][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 +[2026-09-17 23:58:24,401][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:58:24,455][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 +[2026-09-17 23:58:24,509][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 +[2026-09-17 23:58:24,562][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 +[2026-09-17 23:58:24,616][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 +[2026-09-17 23:58:24,669][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 +[2026-09-17 23:58:24,723][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 +[2026-09-17 23:58:24,777][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 +[2026-09-17 23:58:24,777][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) +[2026-09-17 23:58:24,777][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:58:24,777][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:58:24,787][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:58:24,793][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:58:24,799][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:58:24,805][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:58:24,811][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:58:24,817][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:58:24,822][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:58:24,828][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 23:58:24,829][root][INFO] - current_pos: [-0.032997634851605895, -0.0020981155107957505, 0.000953688868543523, 0.000953688868543523, -0.0001907377737087046, -0.03414206149385812, -0.000953688868543523] +[2026-09-17 23:58:24,829][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:58:24,829][root][INFO] - starting separate thread for control loop +[2026-09-17 23:58:24,929][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=-0.032997634851605895, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789660704.9294643), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789660704.9294643), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789660704.9294643), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789660704.9294643), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789660704.9294643), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.03414206149385812, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789660704.9294643), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789660704.9294643)] +[2026-09-17 23:58:24,929][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:58:24,929][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-17 23:58:24,929][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:58:25,595][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-17 23:58:25,895][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:58:26,524][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 23:58:26,824][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.272564278629741, -0.01087205310139261) +[2026-09-17 23:58:26,824][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27256428 -0.01087205] +[2026-09-17 23:58:26,950][root][INFO] - initializing, .... +[2026-09-17 23:58:34,178][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.69 Hz +[2026-09-17 23:58:36,954][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.95 Hz +[2026-09-17 23:58:44,178][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.38 Hz +[2026-09-17 23:58:46,249][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] +[2026-09-17 23:58:46,249][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] +[2026-09-17 23:58:46,955][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.97 Hz +[2026-09-17 23:58:51,950][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.36 iterations per second over 30.00 seconds. +[2026-09-17 23:58:51,951][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 37 times, mean step_time: 0.003978 s, max step_time: 0.064319 s +[2026-09-17 23:58:54,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.06 Hz +[2026-09-17 23:58:54,831][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.62 iterations per second over 30.00 seconds. +[2026-09-17 23:58:54,831][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.004022 s, max step_time: 0.067957 s +[2026-09-17 23:58:56,956][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.37 Hz +[2026-09-17 23:59:04,181][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.15 Hz +[2026-09-17 23:59:06,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.46 Hz +[2026-09-17 23:59:14,184][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.31 Hz +[2026-09-17 23:59:16,643][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] +[2026-09-17 23:59:16,643][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] +[2026-09-17 23:59:16,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.03 Hz +[2026-09-17 23:59:21,951][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.12 iterations per second over 30.00 seconds. +[2026-09-17 23:59:21,951][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004014 s, max step_time: 0.029068 s +[2026-09-17 23:59:24,186][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.86 Hz +[2026-09-17 23:59:24,832][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.69 iterations per second over 30.00 seconds. +[2026-09-17 23:59:24,832][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004005 s, max step_time: 0.032698 s +[2026-09-17 23:59:26,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.57 Hz +[2026-09-17 23:59:34,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.24 Hz +[2026-09-17 23:59:36,964][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.13 Hz +[2026-09-17 23:59:44,191][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.04 Hz +[2026-09-17 23:59:46,968][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.01 Hz +[2026-09-17 23:59:51,954][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.71 iterations per second over 30.00 seconds. +[2026-09-17 23:59:51,955][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003865 s, max step_time: 0.009086 s +[2026-09-17 23:59:54,193][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.79 Hz +[2026-09-17 23:59:54,835][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.34 iterations per second over 30.00 seconds. +[2026-09-17 23:59:54,835][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003886 s, max step_time: 0.007342 s +[2026-09-17 23:59:56,970][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.87 Hz +[2026-09-18 00:00:04,195][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.63 Hz +[2026-09-18 00:00:06,971][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.87 Hz +[2026-09-18 00:00:14,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.74 Hz +[2026-09-18 00:00:16,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.74 Hz +[2026-09-18 00:00:21,957][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 244.71 iterations per second over 30.00 seconds. +[2026-09-18 00:00:21,957][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004086 s, max step_time: 0.010033 s +[2026-09-18 00:00:24,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.89 Hz +[2026-09-18 00:00:24,838][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 243.64 iterations per second over 30.00 seconds. +[2026-09-18 00:00:24,839][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.004104 s, max step_time: 0.008382 s +[2026-09-18 00:00:26,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.80 Hz +[2026-09-18 00:00:34,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.89 Hz +[2026-09-18 00:00:36,974][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.48 Hz +[2026-09-18 00:00:41,817][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] +[2026-09-18 00:00:41,818][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-18 00:00:44,200][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.14 Hz +[2026-09-18 00:00:46,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.78 Hz +[2026-09-18 00:00:51,960][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.44 iterations per second over 30.00 seconds. +[2026-09-18 00:00:51,960][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003946 s, max step_time: 0.041358 s +[2026-09-18 00:00:54,204][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.30 Hz +[2026-09-18 00:00:54,840][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.02 iterations per second over 30.00 seconds. +[2026-09-18 00:00:54,840][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003937 s, max step_time: 0.073917 s +[2026-09-18 00:00:56,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.77 Hz +[2026-09-18 00:01:04,204][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.48 Hz +[2026-09-18 00:01:06,977][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.76 Hz +[2026-09-18 00:01:11,167][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.65 iterations per second over 16.33 seconds. +[2026-09-18 00:01:11,174][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 266.31 iterations per second over 19.21 seconds. +[2026-09-18 00:01:13,284][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-18 00:01:13,285][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-18 00:01:13,285][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-18 00:01:13,285][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-18 00:01:13,285][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-18 00:01:13,285][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-18 00:01:13,285][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-18 00:01:13,285][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-18 00:01:13,286][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-18 00:01:13,287][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-18 00:01:13,287][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-18 00:01:13,287][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-18 00:01:13,287][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-18 00:01:13,287][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-18 00:01:13,287][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-18 00:01:13,287][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} +[2026-09-18 00:01:13,287][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 +[2026-09-18 00:01:13,287][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 +[2026-09-18 00:01:13,287][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-18 00:01:13,287][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-18 00:01:13,287][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-18 00:01:13,287][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-18 00:01:13,287][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-18 00:01:13,287][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-18 00:01:13,287][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-18 00:01:13,287][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-18 00:01:13,287][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-18 00:01:13,287][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-18 00:01:13,287][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-18 00:01:13,287][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 +[2026-09-18 00:01:13,289][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:01:13,300][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-18 00:01:13,311][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-18 00:01:13,322][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:01:13,333][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-18 00:01:13,344][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:13,355][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:01:13,366][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-18 00:01:13,377][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:13,388][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:01:13,399][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-18 00:01:13,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:13,422][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:01:13,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-18 00:01:13,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:13,455][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:01:13,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-18 00:01:13,477][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:13,488][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:01:13,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-18 00:01:13,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:13,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:01:13,521][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-18 00:01:13,521][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 +[2026-09-18 00:01:13,522][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:01:13,577][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 +[2026-09-18 00:01:13,632][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 +[2026-09-18 00:01:13,688][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 +[2026-09-18 00:01:13,743][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 +[2026-09-18 00:01:13,798][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 +[2026-09-18 00:01:13,853][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 +[2026-09-18 00:01:13,908][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 +[2026-09-18 00:01:13,908][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) +[2026-09-18 00:01:13,908][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:01:13,908][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-18 00:01:13,919][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-18 00:01:13,924][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-18 00:01:13,931][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-18 00:01:13,938][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-18 00:01:13,944][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-18 00:01:13,950][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-18 00:01:13,956][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-18 00:01:13,962][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-18 00:01:13,962][root][INFO] - current_pos: [0.05970092317082454, -0.000953688868543523, 0.0017166399633783413, 0.0001907377737087046, 0.02994583047226662, -0.09327077134355655, 0.0001907377737087046] +[2026-09-18 00:01:13,962][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-18 00:01:13,962][root][INFO] - starting separate thread for control loop +[2026-09-18 00:01:14,063][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.05970092317082454, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789660874.063235), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0013351644159644849, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789660874.063235), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=34.0, timestamp=1789660874.063235), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=36.0, timestamp=1789660874.063235), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=0.02994583047226662, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789660874.063235), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.09365224689097751, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789660874.063235), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789660874.063235)] +[2026-09-18 00:01:14,063][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-18 00:01:14,063][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0002 +[2026-09-18 00:01:14,063][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-18 00:01:14,690][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-18 00:01:14,991][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-18 00:01:15,619][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-18 00:01:15,919][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.275997558556497, -0.007057297627218517) +[2026-09-18 00:01:15,919][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27599756 -0.0070573 ] +[2026-09-18 00:01:16,154][root][INFO] - initializing, .... +[2026-09-18 00:01:16,154][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 +[2026-09-18 00:01:16,154][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 +[2026-09-18 00:01:16,154][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-18 00:01:16,154][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-18 00:01:16,154][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-18 00:01:16,154][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-18 00:01:16,155][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-18 00:01:16,155][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-18 00:01:16,155][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-18 00:01:16,155][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-18 00:01:16,155][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-18 00:01:16,155][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-18 00:01:16,155][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-18 00:01:16,155][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 +[2026-09-18 00:01:16,156][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:01:16,167][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-18 00:01:16,178][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:16,189][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:01:16,200][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-18 00:01:16,211][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:16,222][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:01:16,233][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-18 00:01:16,244][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:16,255][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:01:16,266][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-18 00:01:16,277][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:16,288][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:01:16,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-18 00:01:16,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:16,321][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:01:16,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-18 00:01:16,343][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:16,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:01:16,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-18 00:01:16,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:01:16,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:01:16,386][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-18 00:01:16,386][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 +[2026-09-18 00:01:16,386][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:01:16,441][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 +[2026-09-18 00:01:16,495][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 +[2026-09-18 00:01:16,550][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 +[2026-09-18 00:01:16,603][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 +[2026-09-18 00:01:16,657][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 +[2026-09-18 00:01:16,711][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 +[2026-09-18 00:01:16,765][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 +[2026-09-18 00:01:16,765][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) +[2026-09-18 00:01:16,765][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:01:16,765][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-18 00:01:16,776][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-18 00:01:16,782][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-18 00:01:16,788][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-18 00:01:16,794][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-18 00:01:16,800][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-18 00:01:16,806][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-18 00:01:16,811][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-18 00:01:16,817][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-18 00:01:16,818][root][INFO] - current_pos: [-0.03490501258869294, 0.000953688868543523, 0.055886167696650446, -0.12722209506370596, -0.042153047989623715, 0.03414206149385812, 0.3122377355611512] +[2026-09-18 00:01:16,818][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-18 00:01:16,818][root][INFO] - starting separate thread for control loop +[2026-09-18 00:01:16,918][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.03490501258869294, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789660876.9186134), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789660876.9186134), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.055886167696650446, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789660876.9186134), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.12722209506370596, voltage=-1, temp_mos=30.0, temp_rotor=34.0, timestamp=1789660876.9186134), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.042153047989623715, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789660876.9186134), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.03414206149385812, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789660876.9186134), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.3122377355611512, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789660876.9186134)] +[2026-09-18 00:01:16,918][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-18 00:01:16,918][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.3122 +[2026-09-18 00:01:16,918][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-18 00:01:17,592][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-18 00:01:17,893][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-18 00:01:18,511][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-18 00:01:18,811][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253109025711453, -0.01087205310139261) +[2026-09-18 00:01:18,811][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25310903 -0.01087205] +[2026-09-18 00:01:18,939][root][INFO] - initializing, .... +[2026-09-18 00:01:26,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.86 Hz +[2026-09-18 00:01:28,944][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.52 Hz +[2026-09-18 00:01:36,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.54 Hz +[2026-09-18 00:01:38,122][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] +[2026-09-18 00:01:38,122][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] +[2026-09-18 00:01:38,947][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.51 Hz +[2026-09-18 00:01:43,966][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.41 iterations per second over 30.00 seconds. +[2026-09-18 00:01:43,966][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003946 s, max step_time: 0.063204 s +[2026-09-18 00:01:46,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.54 Hz +[2026-09-18 00:01:46,819][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.79 iterations per second over 30.00 seconds. +[2026-09-18 00:01:46,819][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003987 s, max step_time: 0.058270 s +[2026-09-18 00:01:48,947][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.78 Hz +[2026-09-18 00:01:56,165][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.06 Hz +[2026-09-18 00:01:58,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.85 Hz +[2026-09-18 00:02:06,168][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.11 Hz +[2026-09-18 00:02:08,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.18 Hz +[2026-09-18 00:02:13,967][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.69 iterations per second over 30.00 seconds. +[2026-09-18 00:02:13,967][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003989 s, max step_time: 0.010285 s +[2026-09-18 00:02:16,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.98 Hz +[2026-09-18 00:02:16,821][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.65 iterations per second over 30.00 seconds. +[2026-09-18 00:02:16,821][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004006 s, max step_time: 0.008437 s +[2026-09-18 00:02:18,953][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.43 Hz +[2026-09-18 00:02:19,642][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] +[2026-09-18 00:02:19,642][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] +[2026-09-18 00:02:26,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.20 Hz +[2026-09-18 00:02:28,955][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.86 Hz +[2026-09-18 00:02:36,171][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.04 Hz +[2026-09-18 00:02:38,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.22 Hz +[2026-09-18 00:02:43,968][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.35 iterations per second over 30.00 seconds. +[2026-09-18 00:02:43,969][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003901 s, max step_time: 0.011688 s +[2026-09-18 00:02:46,171][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.29 Hz +[2026-09-18 00:02:46,823][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.48 iterations per second over 30.00 seconds. +[2026-09-18 00:02:46,823][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003914 s, max step_time: 0.024029 s +[2026-09-18 00:02:48,961][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.13 Hz +[2026-09-18 00:02:56,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.64 Hz +[2026-09-18 00:02:58,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.65 Hz +[2026-09-18 00:03:06,179][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.74 Hz +[2026-09-18 00:03:07,908][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] +[2026-09-18 00:03:07,908][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] +[2026-09-18 00:03:08,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.52 Hz +[2026-09-18 00:03:13,971][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.48 iterations per second over 30.00 seconds. +[2026-09-18 00:03:13,971][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004024 s, max step_time: 0.038867 s +[2026-09-18 00:03:16,179][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.42 Hz +[2026-09-18 00:03:16,826][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.91 iterations per second over 30.00 seconds. +[2026-09-18 00:03:16,826][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004002 s, max step_time: 0.024881 s +[2026-09-18 00:03:18,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.95 Hz +[2026-09-18 00:03:26,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.95 Hz +[2026-09-18 00:03:28,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.31 Hz +[2026-09-18 00:03:36,181][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.70 Hz +[2026-09-18 00:03:38,977][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.98 Hz +[2026-09-18 00:03:43,611][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] +[2026-09-18 00:03:43,612][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] +[2026-09-18 00:03:43,974][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.71 iterations per second over 30.00 seconds. +[2026-09-18 00:03:43,974][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004005 s, max step_time: 0.022149 s +[2026-09-18 00:03:46,181][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.20 Hz +[2026-09-18 00:03:46,827][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.33 iterations per second over 30.00 seconds. +[2026-09-18 00:03:46,827][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003995 s, max step_time: 0.022223 s +[2026-09-18 00:03:48,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.25 Hz +[2026-09-18 00:03:56,184][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.32 Hz +[2026-09-18 00:03:58,980][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.77 Hz +[2026-09-18 00:04:06,186][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.74 Hz +[2026-09-18 00:04:08,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.14 Hz +[2026-09-18 00:04:13,977][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.60 iterations per second over 30.00 seconds. +[2026-09-18 00:04:16,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.87 Hz +[2026-09-18 00:04:16,750][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003701 s, max step_time: 0.007410 s +[2026-09-18 00:04:16,830][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.91 iterations per second over 30.00 seconds. +[2026-09-18 00:04:18,985][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.12 Hz +[2026-09-18 00:04:26,190][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.84 Hz +[2026-09-18 00:04:28,986][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.27 Hz +[2026-09-18 00:04:36,190][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.28 Hz +[2026-09-18 00:04:38,988][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.45 Hz +[2026-09-18 00:04:42,739][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003728 s, max step_time: 0.007277 s +[2026-09-18 00:04:43,980][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 268.04 iterations per second over 30.00 seconds. +[2026-09-18 00:04:46,193][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.46 Hz +[2026-09-18 00:04:46,751][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003726 s, max step_time: 0.007320 s +[2026-09-18 00:04:46,830][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.46 iterations per second over 30.00 seconds. +[2026-09-18 00:04:48,991][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.03 Hz +[2026-09-18 00:04:55,226][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.55 iterations per second over 8.40 seconds. +[2026-09-18 00:04:55,233][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.81 iterations per second over 11.25 seconds. +[2026-09-18 00:05:01,219][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-18 00:05:01,220][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-18 00:05:01,220][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-18 00:05:01,221][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-18 00:05:01,221][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-18 00:05:01,221][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-18 00:05:01,221][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-18 00:05:01,221][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-18 00:05:01,221][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-18 00:05:01,222][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-18 00:05:01,222][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-18 00:05:01,222][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-18 00:05:01,222][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-18 00:05:01,222][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-18 00:05:01,222][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-18 00:05:01,222][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} +[2026-09-18 00:05:01,222][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 +[2026-09-18 00:05:01,223][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 +[2026-09-18 00:05:01,223][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-18 00:05:01,223][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-18 00:05:01,223][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-18 00:05:01,223][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-18 00:05:01,223][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-18 00:05:01,223][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-18 00:05:01,223][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-18 00:05:01,223][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-18 00:05:01,223][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-18 00:05:01,223][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-18 00:05:01,223][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-18 00:05:01,223][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 +[2026-09-18 00:05:01,224][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:05:01,236][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-18 00:05:01,247][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-18 00:05:01,258][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:05:01,269][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-18 00:05:01,280][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:01,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:05:01,303][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-18 00:05:01,314][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:01,325][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:05:01,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-18 00:05:01,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:01,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:05:01,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-18 00:05:01,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:01,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:05:01,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-18 00:05:01,412][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:01,423][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:05:01,434][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-18 00:05:01,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:01,455][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:05:01,455][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-18 00:05:01,455][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-18 00:05:01,455][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:05:01,509][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 +[2026-09-18 00:05:01,563][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 +[2026-09-18 00:05:01,616][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 +[2026-09-18 00:05:01,670][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 +[2026-09-18 00:05:01,723][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 +[2026-09-18 00:05:01,777][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 +[2026-09-18 00:05:01,832][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 +[2026-09-18 00:05:01,832][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) +[2026-09-18 00:05:01,832][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:05:01,832][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-18 00:05:01,843][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-18 00:05:01,848][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-18 00:05:01,854][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-18 00:05:01,860][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-18 00:05:01,866][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-18 00:05:01,872][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-18 00:05:01,878][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-18 00:05:01,884][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, 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)] +[2026-09-18 00:05:01,885][root][INFO] - current_pos: [0.12569619287403633, -0.0020981155107957505, 0.0017166399633783413, 0.0001907377737087046, 0.03070878156710144, 0.015449759670405072, 0.022316319523918438] +[2026-09-18 00:05:01,885][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-18 00:05:01,885][root][INFO] - starting separate thread for control loop +[2026-09-18 00:05:01,985][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.12569619287403633, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789661101.985685), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789661101.985685), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789661101.985685), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0001907377737087046, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1789661101.985685), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.03070878156710144, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789661101.985685), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789661101.985685), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.022316319523918438, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789661101.985685)] +[2026-09-18 00:05:01,985][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-18 00:05:01,985][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-18 00:05:01,986][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-18 00:05:02,612][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-18 00:05:02,912][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-18 00:05:03,541][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-18 00:05:03,841][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.007057297627218517) +[2026-09-18 00:05:03,841][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-18 00:05:04,083][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 +[2026-09-18 00:05:04,083][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 +[2026-09-18 00:05:04,083][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-18 00:05:04,083][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-18 00:05:04,083][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-18 00:05:04,083][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-18 00:05:04,083][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-18 00:05:04,083][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-18 00:05:04,083][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-18 00:05:04,083][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-18 00:05:04,083][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-18 00:05:04,083][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-18 00:05:04,083][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-18 00:05:04,083][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 +[2026-09-18 00:05:04,083][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:05:04,084][root][INFO] - initializing, .... +[2026-09-18 00:05:04,095][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-18 00:05:04,106][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:04,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:05:04,128][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-18 00:05:04,139][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:04,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:05:04,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-18 00:05:04,171][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:04,182][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-18 00:05:04,193][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-18 00:05:04,203][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:04,214][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:05:04,225][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-18 00:05:04,236][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:04,246][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:05:04,257][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-18 00:05:04,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:04,279][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:05:04,289][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-18 00:05:04,300][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-18 00:05:04,311][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-18 00:05:04,311][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-18 00:05:04,311][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 +[2026-09-18 00:05:04,311][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:05:04,365][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 +[2026-09-18 00:05:04,419][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 +[2026-09-18 00:05:04,472][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 +[2026-09-18 00:05:04,527][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 +[2026-09-18 00:05:04,580][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 +[2026-09-18 00:05:04,634][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 +[2026-09-18 00:05:04,687][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 +[2026-09-18 00:05:04,687][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) +[2026-09-18 00:05:04,688][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-18 00:05:04,688][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-18 00:05:04,698][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-18 00:05:04,704][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-18 00:05:04,710][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-18 00:05:04,716][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-18 00:05:04,722][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-18 00:05:04,728][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-18 00:05:04,734][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-18 00:05:04,740][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=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-18 00:05:04,740][root][INFO] - current_pos: [0.1035706111238266, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, 0.0024795910582131597, -0.010109102006561344, -0.000953688868543523] +[2026-09-18 00:05:04,740][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-18 00:05:04,740][root][INFO] - starting separate thread for control loop +[2026-09-18 00:05:04,840][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.1035706111238266, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789661104.8406255), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789661104.8406255), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789661104.8406255), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789661104.8406255), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789661104.8406255), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.010109102006561344, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789661104.8406255), 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=1789661104.8406255)] +[2026-09-18 00:05:04,840][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-18 00:05:04,840][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-18 00:05:04,840][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-18 00:05:05,463][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-18 00:05:05,763][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-18 00:05:06,379][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-18 00:05:06,680][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253109025711453, -0.01087205310139261) +[2026-09-18 00:05:06,680][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25310903 -0.01087205] +[2026-09-18 00:05:06,812][root][INFO] - initializing, .... +[2026-09-18 00:05:14,088][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.95 Hz +[2026-09-18 00:05:16,817][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.58 Hz +[2026-09-18 00:05:23,281][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] +[2026-09-18 00:05:23,281][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] +[2026-09-18 00:05:24,089][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.37 Hz +[2026-09-18 00:05:26,816][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.78 Hz +[2026-09-18 00:05:31,888][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.34 iterations per second over 30.00 seconds. +[2026-09-18 00:05:31,888][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003931 s, max step_time: 0.061636 s +[2026-09-18 00:05:34,092][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.21 Hz +[2026-09-18 00:05:34,741][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.03 iterations per second over 30.00 seconds. +[2026-09-18 00:05:34,741][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003983 s, max step_time: 0.064062 s +[2026-09-18 00:05:36,818][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.34 Hz +[2026-09-18 00:05:44,092][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.10 Hz +[2026-09-18 00:05:46,818][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.79 Hz +[2026-09-18 00:05:51,252][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] +[2026-09-18 00:05:51,252][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] +[2026-09-18 00:05:54,054][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.57 iterations per second over 19.31 seconds. +[2026-09-18 00:05:54,061][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.52 iterations per second over 22.17 seconds. diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/metadata/runtime/output.lock b/eval/YAM/V2/pi0.5_2500/pick_and_place_banana/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391