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0.014345181323587895 + ], + "status": "completed", + "task_success": false, + "termination_reason": "operator_review", + "tracking_error_limits": [ + 0.20073625504970552, + 0.309388148188591, + 0.29782940477132797, + 0.22655070275068284, + 0.5001068050414323, + 0.7771305423974991, + 0.06952205713838339, + 0.268162048868835, + 0.3556229412555695, + 0.4542571985721588, + 0.3109293460845947, + 1.0653276860713958, + 0.45733958966098726, + 0.07211417473852634 + ], + "velocity_limits": [ + 6.503956017494202, + 7.554651925563812, + 9.670842275619506, + 10.588351378440857, + 8.72373610496521, + 13.252087483406067, + 1.2993822544813156, + 8.664541969299316, + 10.73633671760559, + 14.77633719921112, + 17.380879168510436, + 20.799341225624083, + 7.747032866477967, + 1.3316887146234513 + ] +} diff --git a/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c0d992f80e03c8902cd5ecaff9e3961a0d14b4eb --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,239 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place_banana + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Pick up the banana with the right arm, hand it over to the left arm, and + place it on the plate. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${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_20eps_20000/catch_and_place_banana/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e9309163c5d876eda0a05600d72a019998fa45f --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/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="Pick up the banana with the right arm, hand it over to the left + arm, and place it on the plate." + - run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_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, hand it over to the left arm, and place it + on the plate.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place_banana,run.steps=40 + id: ??? + num: ??? + config_name: openpi_pi0_v2_v3_20eps_20000 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_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_20eps_20000/catch_and_place_banana/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5067af1a298f904971d4c8c4bd6a2c7aeaff4327 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_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, hand it over to the left arm, + and place it on the plate." +- run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place_banana diff --git a/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..170a580e56859d7b3ac3ff0f5dfb26604a869ad6 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/hydra/openpi_rollout.log @@ -0,0 +1,926 @@ +[2026-09-20 19:46:03,924][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:46:03,926][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:46:03,926][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:46:03,926][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:46:03,926][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:46:03,926][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:46:03,926][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:46:03,926][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:46:03,926][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:46:03,927][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:46:03,927][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:46:03,927][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:46:03,927][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:46:03,927][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:46:03,927][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:46:03,927][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} +[2026-09-20 19:46:03,928][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 +[2026-09-20 19:46:03,928][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 +[2026-09-20 19:46:03,928][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:46:03,928][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:46:03,928][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:46:03,928][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:46:03,928][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:46:03,928][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:46:03,928][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:46:03,928][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:46:03,928][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:46:03,928][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:46:03,928][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:46:03,928][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 +[2026-09-20 19:46:03,929][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:46:03,940][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:46:03,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:46:03,963][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:46:03,974][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:46:03,985][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:03,996][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:46:04,007][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:46:04,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:04,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:46:04,041][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:46:04,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:04,063][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:46:04,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:46:04,086][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:04,097][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:46:04,108][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:46:04,119][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:04,131][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:46:04,142][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:46:04,153][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:04,164][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:46:04,164][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-20 19:46:04,164][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 +[2026-09-20 19:46:04,164][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:46:04,220][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 +[2026-09-20 19:46:04,276][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 +[2026-09-20 19:46:04,331][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 +[2026-09-20 19:46:04,385][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 +[2026-09-20 19:46:04,438][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 +[2026-09-20 19:46:04,492][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 +[2026-09-20 19:46:04,545][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 +[2026-09-20 19:46:04,545][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) +[2026-09-20 19:46:04,546][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:46:04,546][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:46:04,556][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:46:04,562][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:46:04,568][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:46:04,574][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:46:04,580][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:46:04,585][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:46:04,591][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:46:04,598][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:46:04,598][root][INFO] - current_pos: [0.00705729762722207, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.018120088502326936, 0.26874952315556655, 0.022316319523918438] +[2026-09-20 19:46:04,598][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:46:04,598][root][INFO] - starting separate thread for control loop +[2026-09-20 19:46:04,698][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.006837606837606813, pos=0.00705729762722207, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789904764.698663), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.0013351644159644849, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904764.698663), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789904764.698663), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789904764.698663), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.018120088502326936, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789904764.698663), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.26874952315556655, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789904764.698663), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.022316319523918438, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904764.698663)] +[2026-09-20 19:46:04,698][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:46:04,698][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-20 19:46:04,698][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:46:05,327][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2684 +[2026-09-20 19:46:05,627][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:46:06,256][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:46:06,556][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270656900892654, -0.00705729762722207) +[2026-09-20 19:46:06,556][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2706569 -0.0070573] +[2026-09-20 19:46:06,789][root][INFO] - initializing, .... +[2026-09-20 19:46:06,789][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:46:06,789][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:46:06,790][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:46:06,790][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:46:06,790][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:46:06,790][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:46:06,790][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:46:06,790][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:46:06,790][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:46:06,790][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:46:06,790][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:46:06,790][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:46:06,790][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:46:06,790][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 +[2026-09-20 19:46:06,790][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:46:06,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:46:06,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:06,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:46:06,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:46:06,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:06,855][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:46:06,866][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:46:06,877][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:06,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:46:06,898][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:46:06,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:06,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:46:06,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:46:06,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:06,952][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:46:06,963][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:46:06,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:06,984][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:46:06,995][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:46:07,005][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:46:07,016][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:46:07,016][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:46:07,016][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 +[2026-09-20 19:46:07,016][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:46:07,070][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 +[2026-09-20 19:46:07,123][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 +[2026-09-20 19:46:07,177][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 +[2026-09-20 19:46:07,230][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 +[2026-09-20 19:46:07,284][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 +[2026-09-20 19:46:07,337][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 +[2026-09-20 19:46:07,390][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 +[2026-09-20 19:46:07,390][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) +[2026-09-20 19:46:07,391][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:46:07,391][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:46:07,402][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:46:07,408][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:46:07,414][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:46:07,420][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:46:07,426][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:46:07,431][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:46:07,437][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:46:07,443][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, 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)] +[2026-09-20 19:46:07,443][root][INFO] - current_pos: [-0.09479667353322618, -0.0013351644159609322, 0.000953688868543523, 0.007438773174639479, -0.09822995345998287, 0.03833829251544962, 0.3992141603723205] +[2026-09-20 19:46:07,443][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:46:07,443][root][INFO] - starting separate thread for control loop +[2026-09-20 19:46:07,543][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=-0.09479667353322618, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789904767.5438514), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789904767.5438514), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789904767.5438514), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.007438773174639479, voltage=-1, temp_mos=32.0, temp_rotor=30.0, timestamp=1789904767.5438514), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.09822995345998287, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789904767.5438514), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.03833829251544962, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789904767.5438514), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.3992141603723205, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789904767.5438514)] +[2026-09-20 19:46:07,543][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:46:07,544][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.3992 +[2026-09-20 19:46:07,544][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:46:08,214][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2543 +[2026-09-20 19:46:08,514][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:46:09,126][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:46:09,426][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.254253452353705, -0.011253528648813571) +[2026-09-20 19:46:09,426][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25425345 -0.01125353] +[2026-09-20 19:46:09,549][root][INFO] - initializing, .... +[2026-09-20 19:46:16,793][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.05 Hz +[2026-09-20 19:46:19,554][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.15 Hz +[2026-09-20 19:46:26,797][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.90 Hz +[2026-09-20 19:46:29,554][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.29 Hz +[2026-09-20 19:46:34,598][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.43 iterations per second over 30.00 seconds. +[2026-09-20 19:46:34,599][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 37 times, mean step_time: 0.004025 s, max step_time: 0.063785 s +[2026-09-20 19:46:36,798][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.29 Hz +[2026-09-20 19:46:36,886][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] +[2026-09-20 19:46:36,887][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] +[2026-09-20 19:46:37,446][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 244.04 iterations per second over 30.00 seconds. +[2026-09-20 19:46:37,446][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.004097 s, max step_time: 0.064769 s +[2026-09-20 19:46:39,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.73 Hz +[2026-09-20 19:46:46,801][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.01 Hz +[2026-09-20 19:46:49,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.24 Hz +[2026-09-20 19:46:56,805][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.21 Hz +[2026-09-20 19:46:59,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.90 Hz +[2026-09-20 19:47:04,599][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.99 iterations per second over 30.00 seconds. +[2026-09-20 19:47:04,600][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003891 s, max step_time: 0.033731 s +[2026-09-20 19:47:06,804][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.40 Hz +[2026-09-20 19:47:07,447][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.23 iterations per second over 30.00 seconds. +[2026-09-20 19:47:07,447][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003873 s, max step_time: 0.007123 s +[2026-09-20 19:47:09,562][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.15 Hz +[2026-09-20 19:47:16,808][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.91 Hz +[2026-09-20 19:47:19,562][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.99 Hz +[2026-09-20 19:47:26,809][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.76 Hz +[2026-09-20 19:47:29,564][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.26 Hz +[2026-09-20 19:47:34,602][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.85 iterations per second over 30.00 seconds. +[2026-09-20 19:47:34,602][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004035 s, max step_time: 0.010116 s +[2026-09-20 19:47:35,593][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:47:35,594][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] +[2026-09-20 19:47:36,809][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.30 Hz +[2026-09-20 19:47:37,449][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.68 iterations per second over 30.00 seconds. +[2026-09-20 19:47:37,450][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004054 s, max step_time: 0.036815 s +[2026-09-20 19:47:39,564][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.66 Hz +[2026-09-20 19:47:46,812][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.14 Hz +[2026-09-20 19:47:49,566][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.45 Hz +[2026-09-20 19:47:56,814][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.86 Hz +[2026-09-20 19:47:59,571][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.52 Hz +[2026-09-20 19:48:04,604][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.05 iterations per second over 30.00 seconds. +[2026-09-20 19:48:04,604][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003983 s, max step_time: 0.023966 s +[2026-09-20 19:48:06,814][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.29 Hz +[2026-09-20 19:48:07,452][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.94 iterations per second over 30.00 seconds. +[2026-09-20 19:48:07,452][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003985 s, max step_time: 0.009097 s +[2026-09-20 19:48:09,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.93 Hz +[2026-09-20 19:48:16,815][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.59 Hz +[2026-09-20 19:48:19,481][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] +[2026-09-20 19:48:19,481][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] +[2026-09-20 19:48:19,575][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.14 Hz +[2026-09-20 19:48:26,818][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.22 Hz +[2026-09-20 19:48:29,576][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.16 Hz +[2026-09-20 19:48:34,606][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.01 iterations per second over 30.00 seconds. +[2026-09-20 19:48:34,606][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003937 s, max step_time: 0.028363 s +[2026-09-20 19:48:36,819][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.17 Hz +[2026-09-20 19:48:37,453][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.86 iterations per second over 30.00 seconds. +[2026-09-20 19:48:37,453][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003908 s, max step_time: 0.029051 s +[2026-09-20 19:48:39,579][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.16 Hz +[2026-09-20 19:48:46,818][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.80 Hz +[2026-09-20 19:48:49,580][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.53 Hz +[2026-09-20 19:48:55,532][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] +[2026-09-20 19:48:55,532][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] +[2026-09-20 19:48:56,821][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.02 Hz +[2026-09-20 19:48:59,584][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.32 Hz +[2026-09-20 19:49:04,607][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.76 iterations per second over 30.00 seconds. +[2026-09-20 19:49:04,607][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003972 s, max step_time: 0.030314 s +[2026-09-20 19:49:06,824][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.03 Hz +[2026-09-20 19:49:07,454][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.35 iterations per second over 30.00 seconds. +[2026-09-20 19:49:07,454][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003978 s, max step_time: 0.025923 s +[2026-09-20 19:49:09,586][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.85 Hz +[2026-09-20 19:49:16,825][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 +[2026-09-20 19:49:19,588][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.55 Hz +[2026-09-20 19:49:26,826][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.54 Hz +[2026-09-20 19:49:29,589][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.89 Hz +[2026-09-20 19:49:34,610][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.74 iterations per second over 30.00 seconds. +[2026-09-20 19:49:34,610][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003910 s, max step_time: 0.010285 s +[2026-09-20 19:49:36,828][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.08 Hz +[2026-09-20 19:49:37,457][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.74 iterations per second over 30.00 seconds. +[2026-09-20 19:49:37,457][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003910 s, max step_time: 0.011094 s +[2026-09-20 19:49:39,590][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.36 Hz +[2026-09-20 19:49:46,829][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.67 Hz +[2026-09-20 19:49:49,591][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.68 Hz +[2026-09-20 19:49:56,830][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.17 Hz +[2026-09-20 19:49:59,593][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.75 Hz +[2026-09-20 19:50:04,613][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.57 iterations per second over 30.00 seconds. +[2026-09-20 19:50:04,613][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003852 s, max step_time: 0.008859 s +[2026-09-20 19:50:06,832][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.14 Hz +[2026-09-20 19:50:07,460][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.31 iterations per second over 30.00 seconds. +[2026-09-20 19:50:07,460][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 58 times, mean step_time: 0.003871 s, max step_time: 0.013732 s +[2026-09-20 19:50:09,595][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.93 Hz +[2026-09-20 19:50:15,883][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.02 iterations per second over 8.42 seconds. +[2026-09-20 19:50:15,891][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.73 iterations per second over 11.28 seconds. +[2026-09-20 19:50:19,191][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:50:19,192][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:50:19,192][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:50:19,192][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:50:19,192][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:50:19,192][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:50:19,192][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:50:19,192][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:50:19,192][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:50:19,193][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:50:19,193][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:50:19,193][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:50:19,193][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:50:19,193][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:50:19,193][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:50:19,193][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} +[2026-09-20 19:50:19,194][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 +[2026-09-20 19:50:19,194][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 +[2026-09-20 19:50:19,194][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:50:19,194][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:50:19,194][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:50:19,194][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:50:19,194][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:50:19,194][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:50:19,194][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:50:19,194][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:50:19,194][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:50:19,194][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:50:19,194][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:50:19,194][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 +[2026-09-20 19:50:19,195][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:50:19,207][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:50:19,218][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:50:19,229][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:50:19,240][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:50:19,251][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:19,262][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:50:19,274][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:50:19,285][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:19,296][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:50:19,307][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:50:19,318][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:19,329][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:50:19,340][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:50:19,351][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:19,362][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:50:19,373][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:50:19,384][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:19,395][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:50:19,406][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:50:19,416][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:19,427][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:50:19,427][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 19:50:19,427][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 +[2026-09-20 19:50:19,428][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:50:19,481][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 +[2026-09-20 19:50:19,535][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 +[2026-09-20 19:50:19,589][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 +[2026-09-20 19:50:19,644][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 +[2026-09-20 19:50:19,698][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 +[2026-09-20 19:50:19,752][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 +[2026-09-20 19:50:19,808][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 +[2026-09-20 19:50:19,808][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) +[2026-09-20 19:50:19,808][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:50:19,808][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:50:19,819][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:50:19,825][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:50:19,831][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:50:19,838][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:50:19,844][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:50:19,850][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:50:19,856][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:50:19,862][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)] +[2026-09-20 19:50:19,862][root][INFO] - current_pos: [0.16041046768902056, -0.0001907377737087046, 0.0024795910582131597, 0.005149919890135024, 0.07152666514076422, -0.06466010528725086, 0.022316319523918438] +[2026-09-20 19:50:19,862][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:50:19,862][root][INFO] - starting separate thread for control loop +[2026-09-20 19:50:19,963][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.006837606837606813, pos=0.16041046768902056, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789905019.9631348), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789905019.9631348), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1789905019.9631348), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.005149919890135024, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1789905019.9631348), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.07152666514076422, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789905019.9631348), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06466010528725086, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789905019.9631348), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=30.0, temp_rotor=27.0, timestamp=1789905019.9631348)] +[2026-09-20 19:50:19,963][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:50:19,963][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-20 19:50:19,963][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:50:20,592][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 19:50:20,892][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:50:21,520][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:50:21,821][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.271801327534906, -0.00705729762722207) +[2026-09-20 19:50:21,821][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27180133 -0.0070573 ] +[2026-09-20 19:50:22,064][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 +[2026-09-20 19:50:22,064][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 +[2026-09-20 19:50:22,064][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:50:22,064][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:50:22,064][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:50:22,064][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:50:22,064][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:50:22,064][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:50:22,064][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:50:22,064][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:50:22,064][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:50:22,064][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:50:22,064][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:50:22,064][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 +[2026-09-20 19:50:22,064][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:50:22,065][root][INFO] - initializing, .... +[2026-09-20 19:50:22,076][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:50:22,087][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:22,098][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:50:22,109][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:50:22,120][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:22,131][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:50:22,142][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:50:22,154][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:22,165][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:50:22,176][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:50:22,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:22,199][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:50:22,209][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:50:22,220][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:22,231][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:50:22,242][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:50:22,253][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:22,264][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:50:22,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:50:22,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:50:22,298][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:50:22,298][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:50:22,298][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 +[2026-09-20 19:50:22,298][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:50:22,353][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 +[2026-09-20 19:50:22,409][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 +[2026-09-20 19:50:22,464][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 +[2026-09-20 19:50:22,519][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 +[2026-09-20 19:50:22,574][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 +[2026-09-20 19:50:22,629][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 +[2026-09-20 19:50:22,685][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 +[2026-09-20 19:50:22,685][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:50:22,685][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:50:22,685][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:50:22,696][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:50:22,701][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:50:22,708][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:50:22,714][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:50:22,720][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:50:22,726][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:50:22,733][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:50:22,739][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=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:50:22,739][root][INFO] - current_pos: [-0.05359731441214599, -0.0013351644159609322, 0.000953688868543523, 0.0005722133211261138, -0.022697795071335847, 0.01583123521782248, 0.6120775158312348] +[2026-09-20 19:50:22,740][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:50:22,740][root][INFO] - starting separate thread for control loop +[2026-09-20 19:50:22,840][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=-0.05359731441214599, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789905022.8403995), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789905022.8403995), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1789905022.8403995), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1789905022.8403995), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.022697795071335847, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789905022.8403995), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789905022.8403995), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.6120775158312348, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789905022.8403995)] +[2026-09-20 19:50:22,840][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:50:22,840][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.6121 +[2026-09-20 19:50:22,840][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:50:23,466][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:50:23,766][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:50:24,391][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:50:24,691][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.254634927901122, -0.011253528648817124) +[2026-09-20 19:50:24,691][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25463493 -0.01125353] +[2026-09-20 19:50:24,819][root][INFO] - initializing, .... +[2026-09-20 19:50:32,067][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.30 Hz +[2026-09-20 19:50:34,824][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.47 Hz +[2026-09-20 19:50:42,068][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.16 Hz +[2026-09-20 19:50:44,827][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.24 Hz +[2026-09-20 19:50:49,866][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.41 iterations per second over 30.00 seconds. +[2026-09-20 19:50:49,866][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.003977 s, max step_time: 0.072236 s +[2026-09-20 19:50:52,074][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.21 Hz +[2026-09-20 19:50:52,743][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.77 iterations per second over 30.00 seconds. +[2026-09-20 19:50:52,743][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.004052 s, max step_time: 0.070611 s +[2026-09-20 19:50:54,830][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.12 Hz +[2026-09-20 19:50:57,359][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] +[2026-09-20 19:50:57,359][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] +[2026-09-20 19:51:02,076][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.81 Hz +[2026-09-20 19:51:04,832][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.56 Hz +[2026-09-20 19:51:12,079][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.02 Hz +[2026-09-20 19:51:14,834][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.93 Hz +[2026-09-20 19:51:19,866][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.13 iterations per second over 30.00 seconds. +[2026-09-20 19:51:19,866][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003935 s, max step_time: 0.027322 s +[2026-09-20 19:51:22,081][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.43 Hz +[2026-09-20 19:51:22,746][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.68 iterations per second over 30.00 seconds. +[2026-09-20 19:51:22,746][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003927 s, max step_time: 0.035582 s +[2026-09-20 19:51:24,835][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.99 Hz +[2026-09-20 19:51:32,085][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.02 Hz +[2026-09-20 19:51:34,836][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.18 Hz +[2026-09-20 19:51:42,086][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.30 Hz +[2026-09-20 19:51:44,839][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.91 Hz +[2026-09-20 19:51:46,065][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:51:46,066][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] +[2026-09-20 19:51:49,869][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.37 iterations per second over 30.00 seconds. +[2026-09-20 19:51:49,870][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004026 s, max step_time: 0.031260 s +[2026-09-20 19:51:52,088][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.61 Hz +[2026-09-20 19:51:52,746][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.19 iterations per second over 30.00 seconds. +[2026-09-20 19:51:52,747][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003997 s, max step_time: 0.031801 s +[2026-09-20 19:51:54,841][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.45 Hz +[2026-09-20 19:52:02,092][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.51 Hz +[2026-09-20 19:52:04,843][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.94 Hz +[2026-09-20 19:52:12,092][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.89 Hz +[2026-09-20 19:52:14,844][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.89 Hz +[2026-09-20 19:52:19,870][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.36 iterations per second over 30.00 seconds. +[2026-09-20 19:52:19,870][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003841 s, max step_time: 0.007078 s +[2026-09-20 19:52:22,095][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.31 Hz +[2026-09-20 19:52:22,748][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.28 iterations per second over 30.00 seconds. +[2026-09-20 19:52:24,844][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.89 Hz +[2026-09-20 19:52:32,097][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.06 Hz +[2026-09-20 19:52:34,847][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.11 Hz +[2026-09-20 19:52:36,065][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003846 s, max step_time: 0.007307 s +[2026-09-20 19:52:42,100][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.51 Hz +[2026-09-20 19:52:44,847][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.40 Hz +[2026-09-20 19:52:49,872][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.02 iterations per second over 30.00 seconds. +[2026-09-20 19:52:49,872][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003831 s, max step_time: 0.007766 s +[2026-09-20 19:52:52,101][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.19 Hz +[2026-09-20 19:52:52,749][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.13 iterations per second over 30.00 seconds. +[2026-09-20 19:52:54,851][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.23 Hz +[2026-09-20 19:53:02,101][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.09 Hz +[2026-09-20 19:53:04,851][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.87 Hz +[2026-09-20 19:53:06,066][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003959 s, max step_time: 0.008691 s +[2026-09-20 19:53:12,102][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.89 Hz +[2026-09-20 19:53:14,853][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.80 Hz +[2026-09-20 19:53:16,765][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] +[2026-09-20 19:53:16,765][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] +[2026-09-20 19:53:19,875][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.24 iterations per second over 30.00 seconds. +[2026-09-20 19:53:19,875][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.004028 s, max step_time: 0.042702 s +[2026-09-20 19:53:22,101][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.69 Hz +[2026-09-20 19:53:22,752][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.67 iterations per second over 30.00 seconds. +[2026-09-20 19:53:24,853][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.38 Hz +[2026-09-20 19:53:32,104][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.84 Hz +[2026-09-20 19:53:34,853][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.00 Hz +[2026-09-20 19:53:36,069][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003962 s, max step_time: 0.033293 s +[2026-09-20 19:53:42,107][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.72 Hz +[2026-09-20 19:53:44,855][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.45 Hz +[2026-09-20 19:53:49,879][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.46 iterations per second over 30.00 seconds. +[2026-09-20 19:53:49,879][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003899 s, max step_time: 0.011742 s +[2026-09-20 19:53:52,107][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.50 Hz +[2026-09-20 19:53:52,756][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.10 iterations per second over 30.00 seconds. +[2026-09-20 19:53:54,860][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.95 Hz +[2026-09-20 19:54:02,109][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.84 Hz +[2026-09-20 19:54:04,864][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 272.02 Hz +[2026-09-20 19:54:06,070][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.003786 s, max step_time: 0.012050 s +[2026-09-20 19:54:12,112][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.56 Hz +[2026-09-20 19:54:14,866][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.64 Hz +[2026-09-20 19:54:19,880][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.46 iterations per second over 30.00 seconds. +[2026-09-20 19:54:19,880][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 31 times, mean step_time: 0.003684 s, max step_time: 0.009831 s +[2026-09-20 19:54:22,113][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.83 Hz +[2026-09-20 19:54:22,758][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 271.17 iterations per second over 30.00 seconds. +[2026-09-20 19:54:24,869][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.82 Hz +[2026-09-20 19:54:32,114][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.59 Hz +[2026-09-20 19:54:34,871][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.45 Hz +[2026-09-20 19:54:36,073][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003706 s, max step_time: 0.009714 s +[2026-09-20 19:54:38,160][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.41 iterations per second over 15.40 seconds. +[2026-09-20 19:54:38,168][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.55 iterations per second over 18.29 seconds. +[2026-09-20 19:54:42,769][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:54:42,770][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:54:42,770][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:54:42,771][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:54:42,771][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:54:42,771][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:54:42,771][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:54:42,771][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:54:42,771][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:54:42,772][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:54:42,772][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:54:42,772][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:54:42,772][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:54:42,772][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:54:42,772][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:54:42,772][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} +[2026-09-20 19:54:42,772][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 +[2026-09-20 19:54:42,772][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 +[2026-09-20 19:54:42,773][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:54:42,773][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:54:42,773][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:54:42,773][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:54:42,773][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:54:42,773][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:54:42,773][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:54:42,773][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:54:42,773][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:54:42,773][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:54:42,773][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:54:42,773][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 +[2026-09-20 19:54:42,774][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:54:42,786][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:54:42,797][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:54:42,808][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:54:42,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:54:42,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:42,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:54:42,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:54:42,865][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:42,876][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:54:42,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:54:42,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:42,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:54:42,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:54:42,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:42,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:54:42,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:54:42,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:42,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:54:42,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:54:42,999][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:43,010][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:54:43,010][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-20 19:54:43,010][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 +[2026-09-20 19:54:43,010][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:54:43,065][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 +[2026-09-20 19:54:43,121][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 +[2026-09-20 19:54:43,175][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 +[2026-09-20 19:54:43,231][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 +[2026-09-20 19:54:43,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:54:43,343][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 +[2026-09-20 19:54:43,398][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 +[2026-09-20 19:54:43,398][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) +[2026-09-20 19:54:43,398][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:54:43,398][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:54:43,410][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:54:43,416][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:54:43,422][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:54:43,429][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:54:43,434][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:54:43,441][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:54:43,448][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:54:43,455][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)] +[2026-09-20 19:54:43,455][root][INFO] - current_pos: [0.09784847791256546, -0.0001907377737087046, 0.0017166399633783413, 0.00705729762722207, 0.07572289616235572, -0.06771190966659013, -0.000953688868543523] +[2026-09-20 19:54:43,455][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:54:43,456][root][INFO] - starting separate thread for control loop +[2026-09-20 19:54:43,556][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.09784847791256546, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789905283.5563688), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789905283.5563688), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789905283.5563688), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.00705729762722207, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1789905283.5563688), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.07572289616235572, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789905283.5563688), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.06771190966659013, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789905283.5563688), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789905283.5563688)] +[2026-09-20 19:54:43,556][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:54:43,556][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-20 19:54:43,556][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:54:44,184][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2684 +[2026-09-20 19:54:44,484][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:54:45,115][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:54:45,416][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.268368047608149, -0.007057297627218517) +[2026-09-20 19:54:45,416][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26836805 -0.0070573 ] +[2026-09-20 19:54:45,657][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 +[2026-09-20 19:54:45,657][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 +[2026-09-20 19:54:45,657][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:54:45,657][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:54:45,657][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:54:45,657][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:54:45,657][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:54:45,657][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:54:45,657][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:54:45,657][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:54:45,657][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:54:45,657][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:54:45,657][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:54:45,657][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:54:45,657][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:54:45,658][root][INFO] - initializing, .... +[2026-09-20 19:54:45,668][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:54:45,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:45,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:54:45,702][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:54:45,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:45,724][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:54:45,735][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:54:45,747][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:45,758][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:54:45,769][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:54:45,780][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:45,791][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:54:45,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:54:45,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:45,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:54:45,836][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:54:45,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:45,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:54:45,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:54:45,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:54:45,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:54:45,891][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:54:45,891][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 +[2026-09-20 19:54:45,891][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:54:45,946][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:54:46,002][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 +[2026-09-20 19:54:46,057][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 +[2026-09-20 19:54:46,113][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 +[2026-09-20 19:54:46,168][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 +[2026-09-20 19:54:46,224][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 +[2026-09-20 19:54:46,280][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 +[2026-09-20 19:54:46,280][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:54:46,280][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:54:46,280][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:54:46,291][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:54:46,297][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:54:46,303][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:54:46,309][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:54:46,316][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:54:46,323][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:54:46,331][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:54:46,338][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 19:54:46,338][root][INFO] - current_pos: [-0.10585946440833105, -0.0013351644159609322, 0.000953688868543523, 0.005149919890135024, 0.047493705653467444, 0.08983749141679986, 0.006294346532387252] +[2026-09-20 19:54:46,338][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:54:46,338][root][INFO] - starting separate thread for control loop +[2026-09-20 19:54:46,438][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.02051282051282044, pos=-0.10585946440833105, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789905286.4386199), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=32.0, timestamp=1789905286.4386199), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1789905286.4386199), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.005531395437552433, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789905286.4386199), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.047493705653467444, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789905286.4386199), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.08983749141679986, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789905286.4386199), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.006294346532387252, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789905286.4386199)] +[2026-09-20 19:54:46,439][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:54:46,439][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063 +[2026-09-20 19:54:46,439][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:54:47,071][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:54:47,371][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:54:48,001][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:54:48,301][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.254634927901122, -0.011253528648813571) +[2026-09-20 19:54:48,301][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25463493 -0.01125353] +[2026-09-20 19:54:48,433][root][INFO] - initializing, .... +[2026-09-20 19:54:55,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.03 Hz +[2026-09-20 19:54:58,439][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.93 Hz +[2026-09-20 19:55:05,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.29 Hz +[2026-09-20 19:55:08,440][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.64 Hz +[2026-09-20 19:55:08,813][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] +[2026-09-20 19:55:08,813][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] +[2026-09-20 19:55:13,457][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.79 iterations per second over 30.00 seconds. +[2026-09-20 19:55:13,457][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003971 s, max step_time: 0.072360 s +[2026-09-20 19:55:15,664][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.06 Hz +[2026-09-20 19:55:16,341][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.77 iterations per second over 30.00 seconds. +[2026-09-20 19:55:16,341][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004019 s, max step_time: 0.067423 s +[2026-09-20 19:55:18,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.13 Hz +[2026-09-20 19:55:25,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.65 Hz +[2026-09-20 19:55:28,444][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.26 Hz +[2026-09-20 19:55:35,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.36 Hz +[2026-09-20 19:55:38,446][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.15 Hz +[2026-09-20 19:55:43,458][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.36 iterations per second over 30.00 seconds. +[2026-09-20 19:55:43,458][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003841 s, max step_time: 0.007194 s +[2026-09-20 19:55:45,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.58 Hz +[2026-09-20 19:55:46,342][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.93 iterations per second over 30.00 seconds. +[2026-09-20 19:55:46,342][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003862 s, max step_time: 0.007203 s +[2026-09-20 19:55:48,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.15 Hz +[2026-09-20 19:55:55,672][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.91 Hz +[2026-09-20 19:55:58,448][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.70 Hz +[2026-09-20 19:56:05,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.62 Hz +[2026-09-20 19:56:08,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.26 Hz +[2026-09-20 19:56:13,461][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.48 iterations per second over 30.00 seconds. +[2026-09-20 19:56:13,461][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003945 s, max step_time: 0.008616 s +[2026-09-20 19:56:15,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.62 Hz +[2026-09-20 19:56:16,344][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.28 iterations per second over 30.00 seconds. +[2026-09-20 19:56:16,345][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003964 s, max step_time: 0.008666 s +[2026-09-20 19:56:18,451][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.95 Hz +[2026-09-20 19:56:22,720][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] +[2026-09-20 19:56:22,720][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] +[2026-09-20 19:56:25,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.73 Hz +[2026-09-20 19:56:28,455][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.64 Hz +[2026-09-20 19:56:35,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.32 Hz +[2026-09-20 19:56:38,457][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.22 Hz +[2026-09-20 19:56:43,462][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.89 iterations per second over 30.00 seconds. +[2026-09-20 19:56:43,463][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004034 s, max step_time: 0.028779 s +[2026-09-20 19:56:45,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.64 Hz +[2026-09-20 19:56:46,347][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.61 iterations per second over 30.00 seconds. +[2026-09-20 19:56:46,347][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004039 s, max step_time: 0.032034 s +[2026-09-20 19:56:48,458][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.98 Hz +[2026-09-20 19:56:55,687][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.78 Hz +[2026-09-20 19:56:58,463][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.61 Hz +[2026-09-20 19:57:02,987][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] +[2026-09-20 19:57:02,987][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] +[2026-09-20 19:57:05,690][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.83 Hz +[2026-09-20 19:57:08,464][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.96 Hz +[2026-09-20 19:57:13,462][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.73 iterations per second over 30.00 seconds. +[2026-09-20 19:57:13,466][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.004020 s, max step_time: 0.033242 s +[2026-09-20 19:57:15,690][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.58 Hz +[2026-09-20 19:57:16,350][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.54 iterations per second over 30.00 seconds. +[2026-09-20 19:57:16,350][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004007 s, max step_time: 0.033598 s +[2026-09-20 19:57:18,465][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.48 Hz +[2026-09-20 19:57:25,695][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.49 Hz +[2026-09-20 19:57:28,465][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.29 Hz +[2026-09-20 19:57:35,700][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.02 Hz +[2026-09-20 19:57:38,466][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.29 Hz +[2026-09-20 19:57:38,701][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:57:38,701][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:57:43,464][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.58 iterations per second over 30.00 seconds. +[2026-09-20 19:57:43,468][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004039 s, max step_time: 0.027869 s +[2026-09-20 19:57:45,701][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.43 Hz +[2026-09-20 19:57:46,351][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.62 iterations per second over 30.00 seconds. +[2026-09-20 19:57:46,351][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004022 s, max step_time: 0.035006 s +[2026-09-20 19:57:48,466][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.17 Hz +[2026-09-20 19:57:55,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.23 Hz +[2026-09-20 19:57:58,473][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.72 Hz +[2026-09-20 19:58:04,687][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.50 iterations per second over 18.34 seconds. +[2026-09-20 19:58:04,693][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.79 iterations per second over 21.23 seconds. +[2026-09-20 19:58:20,504][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:58:20,505][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:58:20,505][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:58:20,506][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:58:20,506][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:58:20,506][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:58:20,506][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:58:20,506][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:58:20,506][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:58:20,507][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:58:20,507][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:58:20,507][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:58:20,507][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:58:20,507][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:58:20,507][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:58:20,507][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 19:58:20,507][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:58:20,507][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 +[2026-09-20 19:58:20,508][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:58:20,508][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:58:20,508][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:58:20,508][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:58:20,508][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:58:20,508][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:58:20,508][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:58:20,508][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:58:20,508][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:58:20,508][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:58:20,508][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:58:20,508][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:58:20,509][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:58:20,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:58:20,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:58:20,543][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:58:20,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:58:20,565][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:20,576][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:58:20,587][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:58:20,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:20,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:58:20,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:58:20,631][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:20,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:58:20,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:58:20,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:20,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:58:20,686][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:58:20,697][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:20,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:58:20,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:58:20,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:20,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:58:20,741][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 19:58:20,741][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 +[2026-09-20 19:58:20,741][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:58:20,795][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 +[2026-09-20 19:58:20,849][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 +[2026-09-20 19:58:20,903][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 +[2026-09-20 19:58:20,956][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:58:21,011][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 +[2026-09-20 19:58:21,065][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 +[2026-09-20 19:58:21,119][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 +[2026-09-20 19:58:21,119][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) +[2026-09-20 19:58:21,119][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:58:21,119][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:58:21,130][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:58:21,135][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:58:21,142][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:58:21,148][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:58:21,154][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:58:21,160][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:58:21,166][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:58:21,172][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:58:21,172][root][INFO] - current_pos: [0.009727626459143934, -0.0013351644159609322, 0.0017166399633783413, 0.004386968795300206, 0.056649118791485265, -0.08602273594262577, -0.0005722133211261138] +[2026-09-20 19:58:21,172][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:58:21,172][root][INFO] - starting separate thread for control loop +[2026-09-20 19:58:21,273][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.006837606837606813, pos=0.010109102006561344, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789905501.2732937), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.0009536888685399703, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789905501.2732937), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1789905501.2732937), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.004386968795300206, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789905501.2732937), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.056649118791485265, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789905501.2732937), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.08640421149003963, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789905501.2732937), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789905501.2732937)] +[2026-09-20 19:58:21,273][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:58:21,273][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006 +[2026-09-20 19:58:21,273][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:58:21,901][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 19:58:22,201][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:58:22,824][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:58:23,125][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.007057297627218517) +[2026-09-20 19:58:23,125][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.0070573 ] +[2026-09-20 19:58:23,362][root][INFO] - initializing, .... +[2026-09-20 19:58:23,363][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:58:23,363][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:58:23,364][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:58:23,364][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:58:23,364][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:58:23,364][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:58:23,364][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:58:23,364][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:58:23,364][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:58:23,364][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:58:23,364][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:58:23,364][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:58:23,364][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:58:23,364][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:58:23,364][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:58:23,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:58:23,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:23,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:58:23,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:58:23,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:23,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:58:23,440][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:58:23,451][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:23,462][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:58:23,473][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:58:23,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:23,494][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:58:23,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:58:23,515][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:23,526][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:58:23,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:58:23,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:23,558][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:58:23,569][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:58:23,580][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:58:23,590][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:58:23,590][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:58:23,591][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:58:23,591][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:58:23,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:58:23,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:58:23,751][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 +[2026-09-20 19:58:23,805][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 +[2026-09-20 19:58:23,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:58:23,912][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 +[2026-09-20 19:58:23,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:58:23,966][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:58:23,966][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:58:23,966][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:58:23,977][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:58:23,982][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:58:23,988][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:58:23,994][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:58:24,000][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:58:24,006][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:58:24,012][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:58:24,018][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=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:58:24,018][root][INFO] - current_pos: [-0.05359731441214599, -0.0013351644159609322, 0.026894026092927348, -0.051689936675058945, -0.09517814908064359, -0.1409552147707327, 0.014305333028152845] +[2026-09-20 19:58:24,018][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:58:24,018][root][INFO] - starting separate thread for control loop +[2026-09-20 19:58:24,118][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.02051282051282044, pos=-0.05359731441214599, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789905504.1186695), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789905504.1186695), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=0.026894026092927348, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1789905504.1186695), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0520714122224728, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789905504.1186695), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.09517814908064359, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789905504.1186695), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.1409552147707327, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789905504.1186695), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.014305333028152845, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789905504.1186695)] +[2026-09-20 19:58:24,118][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:58:24,118][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0143 +[2026-09-20 19:58:24,118][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:58:24,786][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:58:25,086][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:58:25,705][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:58:26,005][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.276760509651332, -0.011253528648817124) +[2026-09-20 19:58:26,005][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27676051 -0.01125353] +[2026-09-20 19:58:26,127][root][INFO] - initializing, .... +[2026-09-20 19:58:33,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.00 Hz +[2026-09-20 19:58:36,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.23 Hz +[2026-09-20 19:58:43,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.98 Hz +[2026-09-20 19:58:45,168][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] +[2026-09-20 19:58:45,168][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] +[2026-09-20 19:58:46,137][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.01 Hz +[2026-09-20 19:58:51,176][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.14 iterations per second over 30.00 seconds. +[2026-09-20 19:58:51,176][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003934 s, max step_time: 0.066994 s +[2026-09-20 19:58:53,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.38 Hz +[2026-09-20 19:58:54,021][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.48 iterations per second over 30.00 seconds. +[2026-09-20 19:58:54,021][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003960 s, max step_time: 0.063839 s +[2026-09-20 19:58:56,139][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.25 Hz +[2026-09-20 19:59:03,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.87 Hz +[2026-09-20 19:59:06,141][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.96 Hz +[2026-09-20 19:59:13,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.25 Hz +[2026-09-20 19:59:16,145][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.44 Hz +[2026-09-20 19:59:21,178][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.72 iterations per second over 30.00 seconds. +[2026-09-20 19:59:21,178][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.004005 s, max step_time: 0.008742 s +[2026-09-20 19:59:23,376][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.01 Hz +[2026-09-20 19:59:24,023][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.62 iterations per second over 30.00 seconds. +[2026-09-20 19:59:24,023][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004038 s, max step_time: 0.009052 s +[2026-09-20 19:59:25,170][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] +[2026-09-20 19:59:25,170][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] +[2026-09-20 19:59:26,145][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.34 Hz +[2026-09-20 19:59:33,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.39 Hz +[2026-09-20 19:59:36,150][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.92 Hz +[2026-09-20 19:59:43,383][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.68 Hz +[2026-09-20 19:59:46,149][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.49 Hz +[2026-09-20 19:59:51,181][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.34 iterations per second over 30.00 seconds. +[2026-09-20 19:59:51,181][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003901 s, max step_time: 0.041543 s +[2026-09-20 19:59:53,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.92 Hz +[2026-09-20 19:59:54,026][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.77 iterations per second over 30.00 seconds. +[2026-09-20 19:59:54,026][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003895 s, max step_time: 0.034115 s +[2026-09-20 19:59:56,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.06 Hz +[2026-09-20 20:00:03,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.67 Hz +[2026-09-20 20:00:06,152][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.47 Hz +[2026-09-20 20:00:08,018][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] +[2026-09-20 20:00:08,018][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] +[2026-09-20 20:00:13,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.38 Hz +[2026-09-20 20:00:16,152][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.47 Hz +[2026-09-20 20:00:21,184][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.08 iterations per second over 30.00 seconds. +[2026-09-20 20:00:21,184][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003983 s, max step_time: 0.020614 s +[2026-09-20 20:00:23,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.45 Hz +[2026-09-20 20:00:24,028][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.08 iterations per second over 30.00 seconds. +[2026-09-20 20:00:24,029][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003967 s, max step_time: 0.033383 s +[2026-09-20 20:00:26,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.69 Hz +[2026-09-20 20:00:33,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.56 Hz +[2026-09-20 20:00:36,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.74 Hz +[2026-09-20 20:00:40,448][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.46 iterations per second over 16.42 seconds. +[2026-09-20 20:00:40,455][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.14 iterations per second over 19.27 seconds. diff --git a/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/rounds.json b/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..377baa168545d720c5fe3ba2c59cdc11be2b01e8 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place_banana/metadata/rounds.json @@ -0,0 +1,219 @@ +{ + "rounds": [ + { + "actions_sent": 761, + "chunks": 25, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place_banana/data/round_0001", + "reviewed_at_ns": 1789904796895440570, + "round_number": 1, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 770, + "chunks": 25, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place_banana/data/round_0002", + "reviewed_at_ns": 1789904855601943776, + "round_number": 2, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 807, + "chunks": 26, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": 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