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+{"chunk": 17, "index": 7, "time_ns": 1790277499469382051, "target": [0.00011066668957937509, 0.030160868540406227, 0.0070246621035039425, 0.015598339959979057, -0.011210154742002487, 0.18643637001514435, 0.09558941423892975, 0.06634417176246643, 0.0037498848978430033, 0.012329522520303726, 0.07740148156881332, -0.035043343901634216, 0.01233236026018858, 0.0956326425075531], "feedback": [-0.009727626107633114, 0.026131074875593185, 0.012779430486261845, 0.009346150793135166, -0.005912871100008488, 0.18673227727413177, 0.09558411687612534, 0.06885633617639542, 0.00476844422519207, 0.027656977996230125, 0.11692225188016891, 0.0024795911740511656, -0.005912871100008488, 0.09571492671966553], "execution_mode": "async_overlap", "queue_remaining": 17, "plan_time_error_ms": -22.816510012489744}
+{"chunk": 17, "index": 8, "time_ns": 1790277499499713955, "target": [0.0001427297538612038, 0.030054204165935516, 0.006919861305505037, 0.015568952076137066, -0.011182338930666447, 0.1864243745803833, 0.09558054804801941, 0.06550894677639008, 0.0025907959789037704, 0.014691663905978203, 0.056534335017204285, -0.03372925892472267, 0.013006685301661491, 0.09559477865695953], "feedback": [-0.009727626107633114, 0.026131074875593185, 0.012779430486261845, 0.009346150793135166, -0.005912871100008488, 0.18673227727413177, 0.09558411687612534, 0.06923781335353851, 0.00476844422519207, 0.024986648932099342, 0.09746700525283813, -0.001716639962978661, -0.002861066721379757, 0.09567321091890335], "execution_mode": "async_overlap", "queue_remaining": 16, "plan_time_error_ms": -20.409940334502608}
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/data/round_0010/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/data/round_0010/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b17b7ab1a8df53dd02365657a81a610f14b0c0b9
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/data/round_0010/debug/async_events.jsonl
@@ -0,0 +1,37 @@
+{"event": "prediction_requested", "time_ns": 1790277489319735189, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
+{"event": "plan_adopted", "time_ns": 1790277489444944723, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 90.42457799660042, "blended_steps": 0}
+{"event": "prediction_requested", "time_ns": 1790277490054551601, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277490157364071, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.69726998766419, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277490594956545, "actions_sent": 34, "prediction": 2, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277490700313195, "actions_sent": 37, "prediction": 2, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 145.97572600177955, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277491139937690, "actions_sent": 50, "prediction": 3, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277491242890018, "actions_sent": 53, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.59464000130538, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277491715481235, "actions_sent": 67, "prediction": 4, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277491818332739, "actions_sent": 70, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 133.21261799137574, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277492291174184, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277492365521385, "actions_sent": 86, "prediction": 5, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 111.06289199960884, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277492837940159, "actions_sent": 100, "prediction": 6, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277492939865745, "actions_sent": 103, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.60579799092375, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277493408916882, "actions_sent": 117, "prediction": 7, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277493512870232, "actions_sent": 120, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.01562299137004, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277493990345056, "actions_sent": 134, "prediction": 8, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277494133851540, "actions_sent": 138, "prediction": 8, "queue_remaining": 24, "skipped_prefix": 6, "observation_age_ms": 176.51204699359369, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277494545152835, "actions_sent": 150, "prediction": 9, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277494656036113, "actions_sent": 153, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.7101670022821, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277495132883183, "actions_sent": 167, "prediction": 10, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277495235627746, "actions_sent": 170, "prediction": 10, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.53525600174908, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277495712395209, "actions_sent": 184, "prediction": 11, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277495816261809, "actions_sent": 187, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.06128199736122, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277496290231384, "actions_sent": 201, "prediction": 12, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277496391532419, "actions_sent": 204, "prediction": 12, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.8674290064955, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277496827575234, "actions_sent": 217, "prediction": 13, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277496929355732, "actions_sent": 220, "prediction": 13, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.01379999960773, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277497373576232, "actions_sent": 233, "prediction": 14, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277497476175220, "actions_sent": 236, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.74286099616438, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277497949940265, "actions_sent": 250, "prediction": 15, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277498059455493, "actions_sent": 253, "prediction": 15, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.7188450047979, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277498537889704, "actions_sent": 267, "prediction": 16, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277498648016637, "actions_sent": 270, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.88400600664318, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1790277499123600002, "actions_sent": 284, "prediction": 17, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1790277499226599149, "actions_sent": 287, "prediction": 17, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.52827600587625, "blended_steps": 5}
+{"event": "operator_stopped", "time_ns": 1790277499519385584, "actions_sent": 296, "result": "success"}
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/.hydra/config.yaml b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49967f795ed3bb19e69ebcb3fa662831c1c21b60
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/.hydra/config.yaml
@@ -0,0 +1,238 @@
+ros:
+  localhost_only: true
+run:
+  id: ${now:%Y%m%d_%H%M%S_%f}
+  output_dir: outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/pick_and_place_pomegranate
+  steps: 40
+  wait_ready_timeout_s: 30.0
+  runtime_dir: ${run.output_dir}/metadata/runtime
+  action_steps: 30
+policy:
+  host: 127.0.0.1
+  port: 8000
+  prompt: Use the right arm to pick up the pomegranate and place it in the bowl.
+  action_hz: 30.0
+  slop_ms: 20.0
+  observation_wait_timeout_s: 1.0
+  max_observation_age_s: 0.5
+  connect_timeout_s: 10.0
+  response_timeout_s: 120.0
+data:
+  history: 64
+  bridge:
+    enabled: true
+    name: openpi_observe_${run.id}
+    wait_all_streams: true
+    qos_depth: 10
+    stamp_source: header
+    sensor_qos: reliable
+  streams:
+    robot_state:
+      topic: /prometheus/robots/yam/state
+      msg_type: sensor_msgs.msg.JointState
+      domain: robot
+      ros_domain_id: 21
+    base_0_color:
+      topic: /prometheus/sensors/cameras/base_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+    left_wrist_0_color:
+      topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+    right_wrist_0_color:
+      topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+  name: openpi_data
+  mode: owned
+  numpy:
+    enabled: true
+  recording:
+    enabled: true
+    output_dir: ${run.output_dir}/data
+    queue_size: 4096
+    fps: 30.0
+    camera_encoder: libx264
+    default_event_value: null
+    enable_plots: false
+robot:
+  _target_: prometheus.nodes.robots.yam.resolve_robot
+  id: yam
+  control_domain_id: 21
+  sensor_domain_id: 22
+  collection_input_source: pedal,tty
+  collection_pedal:
+    devices:
+    - /dev/input/prometheus-pedal
+    - /dev/input/prometheus-pedal-aux
+    exclusive: true
+    confirm_presses: 2
+    confirm_window_s: 1.0
+    debounce_s: 0.05
+    pedal_map:
+      30: 0
+      48: 1
+      46: 2
+      32: 3
+      2: 0
+      3: 1
+      4: 2
+      5: 3
+  robot:
+    state_publish_hz: 120
+    control_hz: 120
+    action_space: abs_qpos
+    leader_arm: yam
+    follower_arm: yam_ultra
+    leader_gripper: yam_teaching_handle
+    follower_gripper: linear_4310
+    gripper_width_m: 0.096
+    alignment_duration_s: 3.0
+    bilateral_kp: 0.0
+    teleoperation_enabled: false
+    require_enable_button: false
+    enable_auto_recovery: false
+    sim: false
+    home_return:
+      enabled: false
+      max_velocity: 0.3
+      min_duration_s: 3.0
+      timeout_s: 25.0
+      kp_scale: 1.0
+      position_tolerance: 0.05
+      velocity_tolerance: 0.1
+      settle_s: 0.3
+      tracking_error_limit: 0.35
+      feedback_timeout_s: 0.5
+    leader_can: null
+    follower_can:
+      left: can_follower_l
+      right: can_follower_r
+    collection_mode: policy
+    policy_control:
+      urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf
+      stop_file: /tmp/prometheus_openpi/STOP
+      hz: 30.0
+      feedback_timeout_s: 0.2
+      command_timeout_s: 0.25
+      velocity_limits:
+      - 6.503956017494202
+      - 7.554651925563812
+      - 9.670842275619506
+      - 10.588351378440857
+      - 8.72373610496521
+      - 13.252087483406067
+      - 1.2993822544813156
+      - 8.664541969299316
+      - 10.73633671760559
+      - 14.77633719921112
+      - 17.380879168510436
+      - 20.799341225624083
+      - 7.747032866477967
+      - 1.3316887146234513
+      stationary_velocity_limits:
+      - 0.09619047798216343
+      - 0.09619047798216343
+      - 0.09125763334333897
+      - 0.09619047798216343
+      - 0.11098901189863682
+      - 0.18498168900609016
+      - 0.014679903751239181
+      - 0.10112332262098789
+      - 0.11098901189863682
+      - 0.10112332262098789
+      - 0.11098901189863682
+      - 0.14058608725667
+      - 0.2885714414715767
+      - 0.014345181323587895
+      command_velocity_limits:
+      - 7.326937734087213
+      - 7.492612143357643
+      - 9.039960411055707
+      - 10.989442599937178
+      - 11.822247140410347
+      - 21.729793477053846
+      - 4.549583926449072
+      - 9.542591565847905
+      - 16.49783855493206
+      - 19.18122166486826
+      - 20.271305218109156
+      - 13.274309575261345
+      - 14.009155302643812
+      - 4.764187300355128
+      acceleration_limits:
+      - 118.7426430016755
+      - 165.012131490699
+      - 134.04180689399348
+      - 274.86399842805685
+      - 195.25766555964873
+      - 454.5340796113012
+      - 109.40927818565227
+      - 178.49339036295515
+      - 476.6444930964641
+      - 557.9080874526715
+      - 587.1810202100611
+      - 362.1711802492357
+      - 208.8803265352197
+      - 208.9010343469399
+      tracking_error_limits:
+      - 0.40147251009941104
+      - 0.618776296377182
+      - 0.5956588095426559
+      - 0.4531014055013657
+      - 1.0002136100828647
+      - 1.5542610847949982
+      - 0.13904411427676677
+      - 0.53632409773767
+      - 0.711245882511139
+      - 0.9085143971443176
+      - 0.6218586921691894
+      - 2.1306553721427917
+      - 0.9146791793219745
+      - 0.14422834947705268
+  cameras:
+    capture_hz: 30
+    capture_width: 640
+    capture_height: 480
+    publish_hz: 30
+    collect_ir: false
+    ir: false
+    prepub_resize: 1.0
+    camera_info: false
+    serial_no:
+      base_0: '260322272085'
+      left_wrist_0: '260422275825'
+      right_wrist_0: '260322279382'
+    qos: reliable
+execute: true
+async_inference:
+  enabled: true
+  prefetch_steps: 12
+  blend_steps: 5
+execution:
+  hold_settle_s: 0.2
+  hold_settle_timeout_s: 5.0
+  max_prediction_age_s: 0.5
+  max_schedule_lateness_s: 0.105
+  command_ack_timeout_s: 0.1
+hardware:
+  name: openpi_hardware
+  mode: owned
+  sensors: auto
+  streams: auto
+preview:
+  enabled: true
+  mode: local
+  ui_mode: openpi
+  window: Pi0.5 - Async execution
+  width: 1280
+  height: 720
+  fps: 20.0
+  stale_timeout_s: 1.0
+  host: 127.0.0.1
+  port: 7860
+  refresh_ms: 100
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..be65eeb7d972b787b03df1828db999bbf71a5a2b
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/.hydra/hydra.yaml
@@ -0,0 +1,164 @@
+hydra:
+  run:
+    dir: ${run.output_dir}/metadata/hydra
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - execute=true
+    - policy.host=127.0.0.1
+    - policy.port=8000
+    - run.steps=40
+    - run.action_steps=30
+    - policy.prompt="Use the right arm to pick up the pomegranate and place it in
+      the bowl."
+    - run.output_dir=outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/pick_and_place_pomegranate
+  job:
+    name: openpi_rollout
+    chdir: false
+    override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use
+      the right arm to pick up the pomegranate and place it in the bowl.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/pick_and_place_pomegranate,run.steps=40
+    id: ???
+    num: ???
+    config_name: openpi_pi0_v4_from_v3_20eps_19999
+    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_v4_from_v3_20eps_19999/pick_and_place_pomegranate/metadata/hydra
+    choices:
+      robot: yam_policy
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c16d456b5e9b522d93442053f0b2ba6951d6419d
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/.hydra/overrides.yaml
@@ -0,0 +1,8 @@
+- execute=true
+- policy.host=127.0.0.1
+- policy.port=8000
+- run.steps=40
+- run.action_steps=30
+- policy.prompt="Use the right arm to pick up the pomegranate and place it in the
+  bowl."
+- run.output_dir=outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/pick_and_place_pomegranate
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/openpi_rollout.log
new file mode 100644
index 0000000000000000000000000000000000000000..e4f2e5edd71c2ef8c9cecc5bfd034ae251a9124a
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/hydra/openpi_rollout.log
@@ -0,0 +1,4401 @@
+[2026-09-25 03:04:14,451][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 03:04:14,452][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 03:04:14,452][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 03:04:14,452][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 03:04:14,452][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 03:04:14,452][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 03:04:14,452][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 03:04:14,452][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 03:04:14,453][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 03:04:14,453][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 03:04:14,453][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 03:04:14,453][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 03:04:14,453][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 03:04:14,453][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 03:04:14,454][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 03:04:14,454][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:04:14,454][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:04:14,454][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:04:14,454][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 03:04:14,454][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:04:14,455][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:04:14,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:04:14,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 03:04:14,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:04:14,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:04:14,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:14,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:04:14,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:04:14,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:14,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:04:14,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:04:14,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:14,589][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:04:14,600][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:04:14,611][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:14,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:04:14,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:04:14,645][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:14,656][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:04:14,667][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:04:14,678][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:14,689][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:04:14,689][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 03:04:14,689][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:04:14,689][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:04:14,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:04:14,800][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:04:14,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:04:14,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:04:14,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:04:15,022][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:04:15,078][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:04:15,078][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:04:15,079][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:04:15,079][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:04:15,090][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:04:15,096][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:04:15,103][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:04:15,109][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:04:15,116][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:04:15,123][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:04:15,129][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:04:15,135][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 03:04:15,136][root][INFO] - current_pos: [-0.023842221713588074, -0.0013351644159609322, 0.0024795910582131597, 0.0013351644159609322, -0.000953688868543523, 0.31795986877241234, 0.01583123521782248]
+[2026-09-25 03:04:15,136][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:04:15,136][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:04:15,236][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=-0.023842221713588074, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790276655.236525), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790276655.236525), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1790276655.236525), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1790276655.236525), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790276655.236525), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.31795986877241234, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790276655.236525), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790276655.236525)]
+[2026-09-25 03:04:15,236][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:04:15,236][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-25 03:04:15,237][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:04:15,917][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687
+[2026-09-25 03:04:16,217][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:04:16,844][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 03:04:17,144][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174643032)
+[2026-09-25 03:04:17,145][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131   -0.00743877]
+[2026-09-25 03:04:17,379][root][INFO] - initializing, ....
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:04:17,380][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:04:17,380][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:04:17,381][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 03:04:17,381][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:04:17,381][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:04:17,392][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:04:17,403][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:17,414][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:04:17,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:04:17,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:17,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:04:17,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:04:17,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:17,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:04:17,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:04:17,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:17,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:04:17,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:04:17,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:17,542][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:04:17,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:04:17,565][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:17,575][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:04:17,586][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:04:17,597][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:04:17,608][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:04:17,608][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 03:04:17,608][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:04:17,608][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:04:17,662][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:04:17,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:04:17,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:04:17,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:04:17,877][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:04:17,931][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:04:17,985][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:04:17,985][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:04:17,986][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:04:17,986][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:04:17,996][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:04:18,001][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:04:18,010][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:04:18,016][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:04:18,022][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:04:18,028][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:04:18,034][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:04:18,040][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 03:04:18,040][root][INFO] - current_pos: [-0.05741206988632008, -0.0001907377737087046, 0.055886167696650446, -0.12684061951628856, 0.0024795910582131597, -0.032997634851605895, 0.0665674830243379]
+[2026-09-25 03:04:18,040][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:04:18,040][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:04:18,141][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.057030594338906226, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790276658.1409435), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790276658.1409435), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.055886167696650446, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1790276658.1409435), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.12684061951628856, voltage=-1, temp_mos=33.0, temp_rotor=31.0, timestamp=1790276658.1409435), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790276658.1409435), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.032997634851605895, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790276658.1409435), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0665674830243379, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790276658.1409435)]
+[2026-09-25 03:04:18,141][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:04:18,141][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0666
+[2026-09-25 03:04:18,141][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:04:18,765][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 03:04:19,065][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:04:19,685][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 03:04:19,985][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.261882963302053, -0.011635004196227428)
+[2026-09-25 03:04:19,985][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26188296 -0.011635  ]
+[2026-09-25 03:04:20,110][root][INFO] - initializing, ....
+[2026-09-25 03:04:27,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.40 Hz
+[2026-09-25 03:04:30,111][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.38 Hz
+[2026-09-25 03:04:37,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.04 Hz
+[2026-09-25 03:04:40,114][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.74 Hz
+[2026-09-25 03:04:45,137][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.02 iterations per second over 30.00 seconds.
+[2026-09-25 03:04:45,138][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003802 s, max step_time: 0.072541 s
+[2026-09-25 03:04:47,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.38 Hz
+[2026-09-25 03:04:48,042][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.15 iterations per second over 30.00 seconds.
+[2026-09-25 03:04:48,043][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003844 s, max step_time: 0.073139 s
+[2026-09-25 03:04:50,115][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.46 Hz
+[2026-09-25 03:04:57,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.35 Hz
+[2026-09-25 03:05:00,116][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.08 Hz
+[2026-09-25 03:05:07,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.81 Hz
+[2026-09-25 03:05:10,119][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.02 Hz
+[2026-09-25 03:05:15,140][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.41 iterations per second over 30.00 seconds.
+[2026-09-25 03:05:15,141][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003840 s, max step_time: 0.007597 s
+[2026-09-25 03:05:17,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.42 Hz
+[2026-09-25 03:05:18,043][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.99 iterations per second over 30.00 seconds.
+[2026-09-25 03:05:18,044][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003846 s, max step_time: 0.007114 s
+[2026-09-25 03:05:20,121][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.86 Hz
+[2026-09-25 03:05:27,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.57 Hz
+[2026-09-25 03:05:30,121][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.29 Hz
+[2026-09-25 03:05:37,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.33 Hz
+[2026-09-25 03:05:40,122][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.77 Hz
+[2026-09-25 03:05:45,144][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.04 iterations per second over 30.00 seconds.
+[2026-09-25 03:05:45,144][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003831 s, max step_time: 0.007020 s
+[2026-09-25 03:05:47,404][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.82 Hz
+[2026-09-25 03:05:48,046][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.94 iterations per second over 30.00 seconds.
+[2026-09-25 03:05:50,124][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.85 Hz
+[2026-09-25 03:05:57,406][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.07 Hz
+[2026-09-25 03:06:00,124][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.59 Hz
+[2026-09-25 03:06:07,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.61 Hz
+[2026-09-25 03:06:10,126][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.26 Hz
+[2026-09-25 03:06:15,145][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.29 iterations per second over 30.00 seconds.
+[2026-09-25 03:06:15,145][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003827 s, max step_time: 0.007516 s
+[2026-09-25 03:06:17,410][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.96 Hz
+[2026-09-25 03:06:18,046][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.90 iterations per second over 30.00 seconds.
+[2026-09-25 03:06:20,128][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.86 Hz
+[2026-09-25 03:06:27,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.87 Hz
+[2026-09-25 03:06:30,132][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.62 Hz
+[2026-09-25 03:06:37,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.35 Hz
+[2026-09-25 03:06:40,135][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.29 Hz
+[2026-09-25 03:06:45,145][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.60 iterations per second over 30.00 seconds.
+[2026-09-25 03:06:45,145][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003867 s, max step_time: 0.007789 s
+[2026-09-25 03:06:47,417][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.43 Hz
+[2026-09-25 03:06:48,049][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.21 iterations per second over 30.00 seconds.
+[2026-09-25 03:06:50,138][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.23 Hz
+[2026-09-25 03:06:57,419][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.64 Hz
+[2026-09-25 03:06:58,178][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003852 s, max step_time: 0.007293 s
+[2026-09-25 03:07:00,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.32 Hz
+[2026-09-25 03:07:07,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 195.38 Hz
+[2026-09-25 03:07:10,163][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 214.68 Hz
+[2026-09-25 03:07:15,146][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 239.10 iterations per second over 30.00 seconds.
+[2026-09-25 03:07:15,176][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 246 times, mean step_time: 0.004187 s, max step_time: 0.034226 s
+[2026-09-25 03:07:16,370][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 238.52 iterations per second over 28.32 seconds.
+[2026-09-25 03:07:16,378][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.68 iterations per second over 1.23 seconds.
+[2026-09-25 03:07:18,218][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 03:07:18,220][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 03:07:18,220][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 03:07:18,220][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 03:07:18,220][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 03:07:18,220][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 03:07:18,220][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 03:07:18,220][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 03:07:18,220][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 03:07:18,221][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 03:07:18,221][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 03:07:18,221][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 03:07:18,221][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 03:07:18,221][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 03:07:18,221][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 03:07:18,221][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:07:18,222][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:07:18,222][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:07:18,222][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 03:07:18,222][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:07:18,223][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:07:18,235][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:07:18,246][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 03:07:18,257][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:07:18,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:07:18,280][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:18,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:07:18,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:07:18,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:18,325][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:07:18,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:07:18,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:18,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:07:18,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:07:18,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:18,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:07:18,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:07:18,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:18,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:07:18,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:07:18,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:18,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:07:18,457][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 03:07:18,457][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:07:18,457][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:07:18,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:07:18,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:07:18,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:07:18,674][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:07:18,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:07:18,782][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:07:18,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:07:18,837][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:07:18,837][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:07:18,837][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:07:18,848][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:07:18,853][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:07:18,859][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:07:18,865][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:07:18,871][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:07:18,877][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:07:18,883][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:07:18,889][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 03:07:18,890][root][INFO] - current_pos: [-0.023842221713588074, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, -0.0024795910582131597, 0.19741359578850926, -0.003242542153047978]
+[2026-09-25 03:07:18,890][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:07:18,890][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:07:18,990][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.03418803418803407, pos=-0.023842221713588074, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790276838.9906223), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790276838.9906223), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790276838.9906223), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790276838.9906223), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790276838.9906223), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.19741359578850926, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790276838.9906223), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.00362401770046894, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790276838.9906223)]
+[2026-09-25 03:07:18,991][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:07:18,991][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0036
+[2026-09-25 03:07:18,991][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:07:19,619][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691
+[2026-09-25 03:07:19,919][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:07:20,548][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0078
+[2026-09-25 03:07:20,848][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007820248722053336)
+[2026-09-25 03:07:20,849][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131   -0.00782025]
+[2026-09-25 03:07:21,089][root][INFO] - initializing, ....
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:07:21,090][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:07:21,091][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:07:21,091][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 03:07:21,091][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:07:21,091][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:07:21,102][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:07:21,113][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:21,124][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:07:21,135][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:07:21,146][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:21,156][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:07:21,167][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:07:21,178][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:21,189][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:07:21,199][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:07:21,210][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:21,221][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:07:21,232][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:07:21,242][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:21,253][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:07:21,264][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:07:21,275][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:21,285][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:07:21,296][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:07:21,307][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:07:21,317][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:07:21,317][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 03:07:21,317][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:07:21,318][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:07:21,371][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:07:21,425][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:07:21,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:07:21,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:07:21,586][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:07:21,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:07:21,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:07:21,694][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:07:21,694][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:07:21,695][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:07:21,705][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:07:21,710][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:07:21,716][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:07:21,722][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:07:21,728][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:07:21,734][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:07:21,740][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:07:21,746][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 03:07:21,746][root][INFO] - current_pos: [-0.05741206988632008, 0.0005722133211261138, 0.0539787899595634, -0.1203555352101926, 0.0001907377737087046, -0.032997634851605895, -0.004386968795300206]
+[2026-09-25 03:07:21,746][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:07:21,746][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:07:21,847][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.05741206988632008, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790276841.8473299), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790276841.8473299), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.02051282051282044, pos=0.0539787899595634, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1790276841.8473299), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.1203555352101926, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1790276841.8473299), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790276841.8473299), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.03261615930419204, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790276841.8473299), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.004386968795300206, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790276841.8473299)]
+[2026-09-25 03:07:21,847][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:07:21,847][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044
+[2026-09-25 03:07:21,847][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:07:22,464][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 03:07:22,764][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:07:23,436][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 03:07:23,736][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.01163500419623098)
+[2026-09-25 03:07:23,737][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.011635 ]
+[2026-09-25 03:07:23,872][root][INFO] - initializing, ....
+[2026-09-25 03:07:31,093][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.39 Hz
+[2026-09-25 03:07:33,879][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.27 Hz
+[2026-09-25 03:07:37,343][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:07:37,343][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:07:41,096][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.73 Hz
+[2026-09-25 03:07:43,878][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.67 Hz
+[2026-09-25 03:07:48,891][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.86 iterations per second over 30.00 seconds.
+[2026-09-25 03:07:48,891][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003893 s, max step_time: 0.073778 s
+[2026-09-25 03:07:51,096][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.60 Hz
+[2026-09-25 03:07:51,748][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.95 iterations per second over 30.00 seconds.
+[2026-09-25 03:07:51,749][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003937 s, max step_time: 0.073058 s
+[2026-09-25 03:07:53,881][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.61 Hz
+[2026-09-25 03:08:01,097][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.18 Hz
+[2026-09-25 03:08:03,883][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.14 Hz
+[2026-09-25 03:08:11,098][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.36 Hz
+[2026-09-25 03:08:13,884][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.30 Hz
+[2026-09-25 03:08:18,893][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.35 iterations per second over 30.00 seconds.
+[2026-09-25 03:08:18,893][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003871 s, max step_time: 0.007679 s
+[2026-09-25 03:08:21,101][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.30 Hz
+[2026-09-25 03:08:21,752][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.84 iterations per second over 30.00 seconds.
+[2026-09-25 03:08:23,887][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.52 Hz
+[2026-09-25 03:08:25,670][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003871 s, max step_time: 0.007357 s
+[2026-09-25 03:08:31,103][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.86 Hz
+[2026-09-25 03:08:33,887][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.17 Hz
+[2026-09-25 03:08:41,108][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.59 Hz
+[2026-09-25 03:08:43,889][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.88 Hz
+[2026-09-25 03:08:48,895][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.75 iterations per second over 30.00 seconds.
+[2026-09-25 03:08:48,895][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003850 s, max step_time: 0.007812 s
+[2026-09-25 03:08:51,109][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.85 Hz
+[2026-09-25 03:08:51,752][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.63 iterations per second over 30.00 seconds.
+[2026-09-25 03:08:53,891][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.33 Hz
+[2026-09-25 03:08:55,672][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003874 s, max step_time: 0.007298 s
+[2026-09-25 03:09:01,111][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.09 Hz
+[2026-09-25 03:09:03,892][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.00 Hz
+[2026-09-25 03:09:11,112][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.17 Hz
+[2026-09-25 03:09:13,893][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.65 Hz
+[2026-09-25 03:09:18,896][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.69 iterations per second over 30.00 seconds.
+[2026-09-25 03:09:21,115][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.00 Hz
+[2026-09-25 03:09:21,755][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.75 iterations per second over 30.00 seconds.
+[2026-09-25 03:09:23,895][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.55 Hz
+[2026-09-25 03:09:25,674][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003902 s, max step_time: 0.007743 s
+[2026-09-25 03:09:31,118][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.04 Hz
+[2026-09-25 03:09:33,897][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.36 Hz
+[2026-09-25 03:09:38,790][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003870 s, max step_time: 0.007441 s
+[2026-09-25 03:09:41,122][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.12 Hz
+[2026-09-25 03:09:43,900][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.54 Hz
+[2026-09-25 03:09:48,899][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.84 iterations per second over 30.00 seconds.
+[2026-09-25 03:09:51,121][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.49 Hz
+[2026-09-25 03:09:51,756][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.25 iterations per second over 30.00 seconds.
+[2026-09-25 03:09:53,245][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:09:53,245][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:09:53,900][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.89 Hz
+[2026-09-25 03:09:55,678][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003919 s, max step_time: 0.015531 s
+[2026-09-25 03:10:01,123][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.97 Hz
+[2026-09-25 03:10:03,903][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.93 Hz
+[2026-09-25 03:10:08,793][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003918 s, max step_time: 0.015702 s
+[2026-09-25 03:10:11,126][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.61 Hz
+[2026-09-25 03:10:13,902][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.10 Hz
+[2026-09-25 03:10:18,899][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.17 iterations per second over 30.00 seconds.
+[2026-09-25 03:10:21,127][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.07 Hz
+[2026-09-25 03:10:21,758][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.72 iterations per second over 30.00 seconds.
+[2026-09-25 03:10:23,904][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.33 Hz
+[2026-09-25 03:10:28,902][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003834 s, max step_time: 0.007201 s
+[2026-09-25 03:10:31,128][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.06 Hz
+[2026-09-25 03:10:33,908][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.21 Hz
+[2026-09-25 03:10:38,793][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003901 s, max step_time: 0.008023 s
+[2026-09-25 03:10:39,062][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:10:39,062][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:10:41,131][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.57 Hz
+[2026-09-25 03:10:43,912][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.62 Hz
+[2026-09-25 03:10:48,904][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.69 iterations per second over 30.00 seconds.
+[2026-09-25 03:10:51,131][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.77 Hz
+[2026-09-25 03:10:51,759][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.69 iterations per second over 30.00 seconds.
+[2026-09-25 03:10:53,912][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.99 Hz
+[2026-09-25 03:10:58,904][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.003935 s, max step_time: 0.026921 s
+[2026-09-25 03:11:01,131][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.79 Hz
+[2026-09-25 03:11:03,912][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.19 Hz
+[2026-09-25 03:11:08,794][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003856 s, max step_time: 0.020152 s
+[2026-09-25 03:11:11,135][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.12 Hz
+[2026-09-25 03:11:13,915][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.44 Hz
+[2026-09-25 03:11:18,907][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.10 iterations per second over 30.00 seconds.
+[2026-09-25 03:11:21,136][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.36 Hz
+[2026-09-25 03:11:21,762][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.61 iterations per second over 30.00 seconds.
+[2026-09-25 03:11:23,918][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.23 Hz
+[2026-09-25 03:11:28,907][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003830 s, max step_time: 0.011226 s
+[2026-09-25 03:11:31,139][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.83 Hz
+[2026-09-25 03:11:33,920][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.14 Hz
+[2026-09-25 03:11:38,796][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003839 s, max step_time: 0.011548 s
+[2026-09-25 03:11:41,145][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.92 Hz
+[2026-09-25 03:11:43,921][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.86 Hz
+[2026-09-25 03:11:48,908][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.69 iterations per second over 30.00 seconds.
+[2026-09-25 03:11:51,148][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.91 Hz
+[2026-09-25 03:11:51,766][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.50 iterations per second over 30.00 seconds.
+[2026-09-25 03:11:53,925][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.42 Hz
+[2026-09-25 03:11:58,911][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 75 times, mean step_time: 0.003922 s, max step_time: 0.013854 s
+[2026-09-25 03:12:01,152][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.73 Hz
+[2026-09-25 03:12:03,926][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.95 Hz
+[2026-09-25 03:12:08,797][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 86 times, mean step_time: 0.003904 s, max step_time: 0.012553 s
+[2026-09-25 03:12:11,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.81 Hz
+[2026-09-25 03:12:13,928][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.18 Hz
+[2026-09-25 03:12:15,266][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.60 iterations per second over 23.50 seconds.
+[2026-09-25 03:12:15,274][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.73 iterations per second over 26.37 seconds.
+[2026-09-25 03:12:16,495][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 03:12:16,496][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 03:12:16,496][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 03:12:16,496][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 03:12:16,496][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 03:12:16,496][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 03:12:16,496][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 03:12:16,496][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 03:12:16,497][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 03:12:16,497][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 03:12:16,497][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 03:12:16,497][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 03:12:16,497][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 03:12:16,497][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 03:12:16,497][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 03:12:16,497][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:12:16,498][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:12:16,498][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:12:16,498][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 03:12:16,498][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:12:16,499][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:12:16,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:12:16,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 03:12:16,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:12:16,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:12:16,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:16,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:12:16,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:12:16,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:16,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:12:16,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:12:16,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:16,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:12:16,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:12:16,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:16,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:12:16,677][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:12:16,688][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:16,699][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:12:16,710][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:12:16,721][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:16,732][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:12:16,732][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 03:12:16,732][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:12:16,733][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:12:16,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:12:16,844][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:12:16,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:12:16,953][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:12:17,007][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:12:17,061][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:12:17,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:12:17,115][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:12:17,115][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:12:17,115][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:12:17,126][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:12:17,131][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:12:17,137][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:12:17,145][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:12:17,151][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:12:17,157][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:12:17,163][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:12:17,169][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 03:12:17,169][root][INFO] - current_pos: [-0.009727626459143934, -0.0013351644159609322, 0.0024795910582131597, 0.0013351644159609322, 0.000953688868543523, 0.19016556038757848, 0.01163500419623098]
+[2026-09-25 03:12:17,169][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:12:17,169][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:12:17,269][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790277137.2697954), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.03418803418803407, pos=-0.0009536888685399703, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790277137.2697954), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790277137.2697954), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=40.0, timestamp=1790277137.2697954), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790277137.2697954), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.19016556038757848, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790277137.2697954), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.01163500419623098, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790277137.2697954)]
+[2026-09-25 03:12:17,269][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:12:17,270][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0116
+[2026-09-25 03:12:17,270][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:12:17,949][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695
+[2026-09-25 03:12:18,249][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:12:18,878][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 03:12:19,178][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174639479)
+[2026-09-25 03:12:19,178][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877]
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:12:19,415][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:12:19,415][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:12:19,415][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 03:12:19,415][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:12:19,416][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:12:19,416][root][INFO] - initializing, ....
+[2026-09-25 03:12:19,427][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:12:19,438][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:19,449][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:12:19,460][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:12:19,471][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:19,482][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:12:19,492][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:12:19,503][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:19,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:12:19,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:12:19,536][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:19,547][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:12:19,558][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:12:19,569][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:19,580][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:12:19,590][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:12:19,601][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:19,612][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:12:19,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:12:19,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:12:19,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:12:19,644][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 03:12:19,644][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:12:19,644][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:12:19,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:12:19,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:12:19,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:12:19,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:12:19,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:12:19,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:12:20,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:12:20,020][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:12:20,020][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:12:20,020][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:12:20,031][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:12:20,036][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:12:20,042][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:12:20,048][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:12:20,054][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:12:20,060][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:12:20,066][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:12:20,073][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=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 03:12:20,073][root][INFO] - current_pos: [-0.05436026550698081, -0.0013351644159609322, 0.0005722133211261138, 0.0005722133211261138, -0.02040894178683139, -0.026894026092927348, 1.8739986266880297]
+[2026-09-25 03:12:20,073][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:12:20,073][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:12:20,173][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=-0.05436026550698081, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790277140.1737545), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.08888888888888857, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790277140.1737545), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790277140.1737545), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790277140.1737545), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.02040894178683139, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790277140.1737545), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.026894026092927348, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790277140.1737545), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=1.8739986266880297, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790277140.1737545)]
+[2026-09-25 03:12:20,173][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:12:20,173][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.8740
+[2026-09-25 03:12:20,174][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:12:20,803][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 03:12:21,103][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:12:21,719][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 03:12:22,019][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.01163500419623098)
+[2026-09-25 03:12:22,020][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.011635 ]
+[2026-09-25 03:12:22,144][root][INFO] - initializing, ....
+[2026-09-25 03:12:29,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.58 Hz
+[2026-09-25 03:12:32,150][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.54 Hz
+[2026-09-25 03:12:39,422][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.19 Hz
+[2026-09-25 03:12:42,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.60 Hz
+[2026-09-25 03:12:47,172][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.17 iterations per second over 30.00 seconds.
+[2026-09-25 03:12:47,172][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003799 s, max step_time: 0.063604 s
+[2026-09-25 03:12:49,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.04 Hz
+[2026-09-25 03:12:50,074][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.16 iterations per second over 30.00 seconds.
+[2026-09-25 03:12:50,074][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003843 s, max step_time: 0.063567 s
+[2026-09-25 03:12:52,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.00 Hz
+[2026-09-25 03:12:59,425][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.06 Hz
+[2026-09-25 03:13:02,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.37 Hz
+[2026-09-25 03:13:04,691][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:13:04,691][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:13:09,429][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.31 Hz
+[2026-09-25 03:13:12,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.63 Hz
+[2026-09-25 03:13:17,175][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.71 iterations per second over 30.00 seconds.
+[2026-09-25 03:13:17,176][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003926 s, max step_time: 0.022681 s
+[2026-09-25 03:13:19,431][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.47 Hz
+[2026-09-25 03:13:20,076][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.82 iterations per second over 30.00 seconds.
+[2026-09-25 03:13:20,076][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003924 s, max step_time: 0.015288 s
+[2026-09-25 03:13:22,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.18 Hz
+[2026-09-25 03:13:29,432][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.35 Hz
+[2026-09-25 03:13:32,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.10 Hz
+[2026-09-25 03:13:39,433][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.10 Hz
+[2026-09-25 03:13:42,165][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.12 Hz
+[2026-09-25 03:13:47,178][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.54 iterations per second over 30.00 seconds.
+[2026-09-25 03:13:47,178][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003838 s, max step_time: 0.007316 s
+[2026-09-25 03:13:49,435][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.92 Hz
+[2026-09-25 03:13:50,078][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.31 iterations per second over 30.00 seconds.
+[2026-09-25 03:13:50,078][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003842 s, max step_time: 0.007062 s
+[2026-09-25 03:13:52,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.41 Hz
+[2026-09-25 03:13:59,439][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.30 Hz
+[2026-09-25 03:14:02,172][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.72 Hz
+[2026-09-25 03:14:09,443][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.83 Hz
+[2026-09-25 03:14:12,175][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.72 Hz
+[2026-09-25 03:14:17,179][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.13 iterations per second over 30.00 seconds.
+[2026-09-25 03:14:17,179][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003844 s, max step_time: 0.008198 s
+[2026-09-25 03:14:19,445][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.42 Hz
+[2026-09-25 03:14:20,082][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.03 iterations per second over 30.00 seconds.
+[2026-09-25 03:14:20,082][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003860 s, max step_time: 0.007379 s
+[2026-09-25 03:14:22,176][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.96 Hz
+[2026-09-25 03:14:28,026][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:14:28,026][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:14:29,447][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.96 Hz
+[2026-09-25 03:14:32,179][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.13 Hz
+[2026-09-25 03:14:39,447][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.49 Hz
+[2026-09-25 03:14:42,182][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.12 Hz
+[2026-09-25 03:14:45,300][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.27 iterations per second over 25.22 seconds.
+[2026-09-25 03:14:45,310][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.99 iterations per second over 28.13 seconds.
+[2026-09-25 03:14:47,752][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 03:14:47,753][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 03:14:47,753][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 03:14:47,753][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 03:14:47,753][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 03:14:47,753][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 03:14:47,753][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 03:14:47,753][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 03:14:47,754][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 03:14:47,754][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 03:14:47,754][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 03:14:47,754][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 03:14:47,754][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 03:14:47,754][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 03:14:47,754][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 03:14:47,754][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:14:47,755][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:14:47,755][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:14:47,755][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 03:14:47,755][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:14:47,756][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:14:47,767][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:14:47,778][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 03:14:47,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:14:47,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:14:47,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:47,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:14:47,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:14:47,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:47,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:14:47,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:14:47,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:47,889][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:14:47,900][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:14:47,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:47,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:14:47,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:14:47,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:47,955][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:14:47,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:14:47,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:47,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:14:47,988][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 03:14:47,988][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:14:47,989][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:14:48,044][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:14:48,100][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:14:48,155][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:14:48,211][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:14:48,267][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:14:48,323][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:14:48,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:14:48,380][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:14:48,381][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:14:48,381][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:14:48,392][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:14:48,398][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:14:48,404][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:14:48,410][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:14:48,417][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:14:48,423][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:14:48,429][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:14:48,435][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 03:14:48,435][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0013351644159609322, 0.1867322804608218, 0.022316319523918438]
+[2026-09-25 03:14:48,435][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:14:48,435][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:14:48,536][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.006837606837606813, pos=-0.009727626459143934, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790277288.5362022), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790277288.5362022), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790277288.5362022), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=40.0, timestamp=1790277288.5362022), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790277288.5362022), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.1867322804608218, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790277288.5362022), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790277288.5362022)]
+[2026-09-25 03:14:48,536][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:14:48,536][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223
+[2026-09-25 03:14:48,536][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:14:49,165][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687
+[2026-09-25 03:14:49,465][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:14:50,094][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 03:14:50,395][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174639479)
+[2026-09-25 03:14:50,395][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877]
+[2026-09-25 03:14:50,630][root][INFO] - initializing, ....
+[2026-09-25 03:14:50,630][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:14:50,631][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:14:50,631][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:14:50,631][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:14:50,631][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:14:50,631][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:14:50,631][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:14:50,631][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:14:50,631][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:14:50,631][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:14:50,631][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:14:50,631][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:14:50,631][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 03:14:50,631][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:14:50,632][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:14:50,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:14:50,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:50,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:14:50,674][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:14:50,685][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:50,696][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:14:50,707][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:14:50,717][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:50,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:14:50,739][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:14:50,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:50,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:14:50,771][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:14:50,782][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:50,792][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:14:50,803][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:14:50,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:50,825][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:14:50,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:14:50,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:14:50,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:14:50,857][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 03:14:50,857][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:14:50,857][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:14:50,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:14:50,964][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:14:51,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:14:51,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:14:51,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:14:51,180][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:14:51,233][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:14:51,233][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:14:51,234][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:14:51,234][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:14:51,244][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:14:51,250][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:14:51,256][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:14:51,262][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:14:51,267][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:14:51,273][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:14:51,279][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:14:51,285][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 03:14:51,285][root][INFO] - current_pos: [0.0455863279163804, -0.0020981155107957505, 0.000953688868543523, 0.005531395437552433, 0.04329747463187594, 0.0829709315632865, 0.024986648355840302]
+[2026-09-25 03:14:51,286][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:14:51,286][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:14:51,386][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=0.0455863279163804, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790277291.3862658), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790277291.3862658), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790277291.3862658), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.005531395437552433, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1790277291.3862658), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.04329747463187594, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790277291.3862658), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0829709315632865, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790277291.3862658), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.024986648355840302, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790277291.3862658)]
+[2026-09-25 03:14:51,386][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:14:51,386][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0250
+[2026-09-25 03:14:51,386][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:14:52,059][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554
+[2026-09-25 03:14:52,360][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:14:53,024][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 03:14:53,324][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.272182803082323, -0.01163500419623098)
+[2026-09-25 03:14:53,325][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2721828 -0.011635 ]
+[2026-09-25 03:14:53,451][root][INFO] - initializing, ....
+[2026-09-25 03:15:00,635][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.33 Hz
+[2026-09-25 03:15:03,454][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.67 Hz
+[2026-09-25 03:15:10,637][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.92 Hz
+[2026-09-25 03:15:13,454][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.69 Hz
+[2026-09-25 03:15:18,437][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.79 iterations per second over 30.00 seconds.
+[2026-09-25 03:15:18,437][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003879 s, max step_time: 0.062148 s
+[2026-09-25 03:15:20,641][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.40 Hz
+[2026-09-25 03:15:21,288][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.38 iterations per second over 30.00 seconds.
+[2026-09-25 03:15:21,288][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003900 s, max step_time: 0.062568 s
+[2026-09-25 03:15:23,455][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.89 Hz
+[2026-09-25 03:15:30,642][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.98 Hz
+[2026-09-25 03:15:33,457][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 272.45 Hz
+[2026-09-25 03:15:40,643][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.70 Hz
+[2026-09-25 03:15:43,458][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.97 Hz
+[2026-09-25 03:15:47,672][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.31 iterations per second over 26.38 seconds.
+[2026-09-25 03:15:47,679][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.64 iterations per second over 29.24 seconds.
+[2026-09-25 03:15:49,444][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 03:15:49,446][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 03:15:49,446][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 03:15:49,446][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 03:15:49,446][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 03:15:49,446][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 03:15:49,446][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 03:15:49,446][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 03:15:49,446][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 03:15:49,447][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 03:15:49,447][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 03:15:49,447][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 03:15:49,447][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 03:15:49,447][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 03:15:49,447][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 03:15:49,447][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:15:49,448][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:15:49,448][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:15:49,448][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 03:15:49,448][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:15:49,449][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:15:49,461][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:15:49,472][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 03:15:49,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:15:49,494][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:15:49,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:49,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:15:49,527][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:15:49,538][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:49,550][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:15:49,561][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:15:49,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:49,583][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:15:49,594][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:15:49,605][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:49,616][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:15:49,627][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:15:49,638][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:49,649][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:15:49,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:15:49,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:49,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:15:49,683][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s))
+[2026-09-25 03:15:49,683][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:15:49,683][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:15:49,738][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:15:49,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:15:49,849][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:15:49,903][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:15:49,957][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:15:50,011][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:15:50,065][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:15:50,065][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:15:50,065][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:15:50,065][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:15:50,076][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:15:50,081][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:15:50,088][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:15:50,094][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:15:50,100][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:15:50,106][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:15:50,112][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:15:50,118][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 03:15:50,118][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.0013351644159609322, 0.1867322804608218, -0.0020981155107957505]
+[2026-09-25 03:15:50,118][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:15:50,118][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:15:50,218][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790277350.2184994), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790277350.2184994), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790277350.2184994), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=40.0, timestamp=1790277350.2184994), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790277350.2184994), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.1867322804608218, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790277350.2184994), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0020981155107957505, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790277350.2184994)]
+[2026-09-25 03:15:50,218][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:15:50,218][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0021
+[2026-09-25 03:15:50,218][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:15:50,842][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691
+[2026-09-25 03:15:51,143][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:15:51,770][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 03:15:52,070][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.275997558556497, -0.007438773174639479)
+[2026-09-25 03:15:52,070][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27599756 -0.00743877]
+[2026-09-25 03:15:52,305][root][INFO] - initializing, ....
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:15:52,306][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:15:52,306][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:15:52,306][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 03:15:52,306][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:15:52,306][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:15:52,318][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:15:52,329][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:52,339][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:15:52,350][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:15:52,361][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:52,372][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:15:52,382][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:15:52,393][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:52,404][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:15:52,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:15:52,425][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:52,436][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:15:52,447][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:15:52,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:52,469][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:15:52,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:15:52,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:52,501][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:15:52,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:15:52,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:15:52,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:15:52,533][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 03:15:52,533][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:15:52,533][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:15:52,587][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:15:52,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:15:52,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:15:52,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:15:52,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:15:52,855][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:15:52,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:15:52,908][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:15:52,909][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:15:52,909][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:15:52,919][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:15:52,925][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:15:52,931][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:15:52,937][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:15:52,943][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:15:52,949][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:15:52,955][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:15:52,961][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 03:15:52,961][root][INFO] - current_pos: [-0.018883039597161755, -0.0020981155107957505, 0.0005722133211261138, 0.0005722133211261138, -0.023460746166170665, 0.21038376440070117, 0.010872053101396162]
+[2026-09-25 03:15:52,961][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:15:52,961][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:15:53,061][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.02051282051282044, pos=-0.018883039597161755, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790277353.061696), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790277353.061696), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790277353.061696), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790277353.061696), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.023460746166170665, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790277353.061696), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.21038376440070117, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790277353.061696), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.010872053101396162, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790277353.061696)]
+[2026-09-25 03:15:53,061][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:15:53,061][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0109
+[2026-09-25 03:15:53,061][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:15:53,740][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 03:15:54,040][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:15:54,667][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 03:15:54,967][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.01163500419623098)
+[2026-09-25 03:15:54,967][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.011635  ]
+[2026-09-25 03:15:55,101][root][INFO] - initializing, ....
+[2026-09-25 03:16:02,308][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.78 Hz
+[2026-09-25 03:16:05,105][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.20 Hz
+[2026-09-25 03:16:08,484][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:16:08,484][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:16:12,311][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.03 Hz
+[2026-09-25 03:16:15,107][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.23 Hz
+[2026-09-25 03:16:20,120][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.01 iterations per second over 30.00 seconds.
+[2026-09-25 03:16:20,120][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003906 s, max step_time: 0.064022 s
+[2026-09-25 03:16:22,314][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.11 Hz
+[2026-09-25 03:16:22,964][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.35 iterations per second over 30.00 seconds.
+[2026-09-25 03:16:22,964][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003947 s, max step_time: 0.061508 s
+[2026-09-25 03:16:25,109][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
+[2026-09-25 03:16:32,318][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.73 Hz
+[2026-09-25 03:16:35,110][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.28 Hz
+[2026-09-25 03:16:42,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.64 Hz
+[2026-09-25 03:16:45,111][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.50 Hz
+[2026-09-25 03:16:50,121][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.49 iterations per second over 30.00 seconds.
+[2026-09-25 03:16:50,121][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003884 s, max step_time: 0.007374 s
+[2026-09-25 03:16:52,322][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.74 Hz
+[2026-09-25 03:16:52,965][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.79 iterations per second over 30.00 seconds.
+[2026-09-25 03:16:52,965][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003879 s, max step_time: 0.008327 s
+[2026-09-25 03:16:55,112][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.24 Hz
+[2026-09-25 03:17:02,323][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.58 Hz
+[2026-09-25 03:17:05,115][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.25 Hz
+[2026-09-25 03:17:12,326][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.58 Hz
+[2026-09-25 03:17:15,117][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.43 Hz
+[2026-09-25 03:17:20,122][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.76 iterations per second over 30.00 seconds.
+[2026-09-25 03:17:20,125][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003850 s, max step_time: 0.007203 s
+[2026-09-25 03:17:22,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.03 Hz
+[2026-09-25 03:17:22,967][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.38 iterations per second over 30.00 seconds.
+[2026-09-25 03:17:22,967][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003855 s, max step_time: 0.007089 s
+[2026-09-25 03:17:25,120][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.43 Hz
+[2026-09-25 03:17:32,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.61 Hz
+[2026-09-25 03:17:35,120][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.78 Hz
+[2026-09-25 03:17:42,338][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.78 Hz
+[2026-09-25 03:17:45,122][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.08 Hz
+[2026-09-25 03:17:50,125][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.11 iterations per second over 30.00 seconds.
+[2026-09-25 03:17:52,338][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.58 Hz
+[2026-09-25 03:17:52,969][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.82 iterations per second over 30.00 seconds.
+[2026-09-25 03:17:52,969][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003849 s, max step_time: 0.007423 s
+[2026-09-25 03:17:55,122][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.09 Hz
+[2026-09-25 03:18:02,342][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.50 Hz
+[2026-09-25 03:18:05,125][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.04 Hz
+[2026-09-25 03:18:10,570][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003858 s, max step_time: 0.009271 s
+[2026-09-25 03:18:12,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.07 Hz
+[2026-09-25 03:18:15,125][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.48 Hz
+[2026-09-25 03:18:19,506][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:18:19,506][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:18:20,126][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.99 iterations per second over 30.00 seconds.
+[2026-09-25 03:18:22,346][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.43 Hz
+[2026-09-25 03:18:22,971][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.48 iterations per second over 30.00 seconds.
+[2026-09-25 03:18:22,971][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003930 s, max step_time: 0.011715 s
+[2026-09-25 03:18:25,130][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.29 Hz
+[2026-09-25 03:18:32,347][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.37 Hz
+[2026-09-25 03:18:35,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.22 Hz
+[2026-09-25 03:18:40,571][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003925 s, max step_time: 0.015116 s
+[2026-09-25 03:18:42,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.62 Hz
+[2026-09-25 03:18:45,133][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.59 Hz
+[2026-09-25 03:18:50,128][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.45 iterations per second over 30.00 seconds.
+[2026-09-25 03:18:52,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.49 Hz
+[2026-09-25 03:18:52,974][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.94 iterations per second over 30.00 seconds.
+[2026-09-25 03:18:52,974][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003862 s, max step_time: 0.007185 s
+[2026-09-25 03:18:55,137][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.03 Hz
+[2026-09-25 03:19:02,352][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.77 Hz
+[2026-09-25 03:19:05,143][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
+[2026-09-25 03:19:06,521][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:19:06,521][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:19:10,571][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003917 s, max step_time: 0.014788 s
+[2026-09-25 03:19:12,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.96 Hz
+[2026-09-25 03:19:15,143][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.16 Hz
+[2026-09-25 03:19:20,130][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.11 iterations per second over 30.00 seconds.
+[2026-09-25 03:19:22,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.99 Hz
+[2026-09-25 03:19:22,976][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.78 iterations per second over 30.00 seconds.
+[2026-09-25 03:19:22,976][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003940 s, max step_time: 0.016049 s
+[2026-09-25 03:19:25,144][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.08 Hz
+[2026-09-25 03:19:32,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.50 Hz
+[2026-09-25 03:19:35,145][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.37 Hz
+[2026-09-25 03:19:40,573][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 31 times, mean step_time: 0.003857 s, max step_time: 0.008775 s
+[2026-09-25 03:19:42,355][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.59 Hz
+[2026-09-25 03:19:45,150][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.17 Hz
+[2026-09-25 03:19:50,131][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.70 iterations per second over 30.00 seconds.
+[2026-09-25 03:19:52,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.86 Hz
+[2026-09-25 03:19:52,978][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.42 iterations per second over 30.00 seconds.
+[2026-09-25 03:19:52,978][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 62 times, mean step_time: 0.003870 s, max step_time: 0.010817 s
+[2026-09-25 03:19:55,152][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.07 Hz
+[2026-09-25 03:20:02,359][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.64 Hz
+[2026-09-25 03:20:05,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.07 Hz
+[2026-09-25 03:20:10,574][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 79 times, mean step_time: 0.003883 s, max step_time: 0.011331 s
+[2026-09-25 03:20:12,363][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.00 Hz
+[2026-09-25 03:20:15,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.83 Hz
+[2026-09-25 03:20:20,131][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.26 iterations per second over 30.00 seconds.
+[2026-09-25 03:20:22,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.16 Hz
+[2026-09-25 03:20:22,978][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.93 iterations per second over 30.00 seconds.
+[2026-09-25 03:20:22,979][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 61 times, mean step_time: 0.003877 s, max step_time: 0.010913 s
+[2026-09-25 03:20:25,157][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.28 Hz
+[2026-09-25 03:20:32,366][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.27 Hz
+[2026-09-25 03:20:33,287][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.68 iterations per second over 10.31 seconds.
+[2026-09-25 03:20:33,296][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.50 iterations per second over 13.16 seconds.
+[2026-09-25 03:20:34,724][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 03:20:34,726][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 03:20:34,726][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 03:20:34,726][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 03:20:34,726][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 03:20:34,726][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 03:20:34,726][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 03:20:34,726][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 03:20:34,726][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 03:20:34,727][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 03:20:34,727][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 03:20:34,727][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 03:20:34,727][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 03:20:34,727][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 03:20:34,727][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 03:20:34,727][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:20:34,728][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:20:34,728][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:20:34,728][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 03:20:34,728][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:20:34,729][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:20:34,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:20:34,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 03:20:34,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:20:34,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:20:34,785][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:34,796][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:20:34,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:20:34,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:34,829][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:20:34,840][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:20:34,851][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:34,862][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:20:34,873][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:20:34,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:34,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:20:34,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:20:34,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:34,929][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:20:34,940][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:20:34,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:34,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:20:34,962][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 03:20:34,962][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:20:34,962][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:20:35,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:20:35,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:20:35,129][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:20:35,184][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:20:35,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:20:35,294][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:20:35,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:20:35,348][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:20:35,348][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:20:35,348][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:20:35,359][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:20:35,364][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:20:35,371][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:20:35,376][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:20:35,383][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:20:35,389][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:20:35,395][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:20:35,401][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=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 03:20:35,401][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.0013351644159609322, 0.1867322804608218, 0.015449759670405072]
+[2026-09-25 03:20:35,401][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:20:35,401][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:20:35,502][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.0040054932478827965, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790277635.5023093), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159644849, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790277635.5023093), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790277635.5023093), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=40.0, timestamp=1790277635.5023093), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790277635.5023093), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.1863508049134044, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790277635.5023093), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.01583123521782248, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790277635.5023093)]
+[2026-09-25 03:20:35,502][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:20:35,502][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-25 03:20:35,502][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:20:36,128][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695
+[2026-09-25 03:20:36,428][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:20:37,056][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 03:20:37,356][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174639479)
+[2026-09-25 03:20:37,356][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877]
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:20:37,599][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:20:37,599][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:20:37,599][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 03:20:37,599][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:20:37,600][root][INFO] - initializing, ....
+[2026-09-25 03:20:37,600][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:20:37,611][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:20:37,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:37,634][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:20:37,645][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:20:37,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:37,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:20:37,677][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:20:37,688][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:37,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:20:37,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:20:37,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:37,731][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:20:37,742][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:20:37,753][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:37,764][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:20:37,775][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:20:37,785][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:37,796][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:20:37,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:20:37,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:20:37,828][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:20:37,828][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 03:20:37,829][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:20:37,829][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:20:37,882][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:20:37,936][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:20:37,989][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:20:38,043][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:20:38,096][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:20:38,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:20:38,203][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:20:38,203][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.37 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:20:38,204][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:20:38,204][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:20:38,214][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:20:38,219][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:20:38,225][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:20:38,231][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:20:38,237][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:20:38,243][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:20:38,249][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:20:38,255][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 03:20:38,255][root][INFO] - current_pos: [-0.018883039597161755, -0.0013351644159609322, 0.0005722133211261138, 0.0013351644159609322, -0.0207904173342488, 0.0791561760891124, 0.8333333333333339]
+[2026-09-25 03:20:38,256][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:20:38,256][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:20:38,356][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=-0.018883039597161755, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790277638.35646), 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=29.0, timestamp=1790277638.35646), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790277638.35646), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790277638.35646), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0207904173342488, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790277638.35646), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.078774700541695, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790277638.35646), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.8329518577859165, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790277638.35646)]
+[2026-09-25 03:20:38,356][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:20:38,356][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.8330
+[2026-09-25 03:20:38,356][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:20:38,987][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554
+[2026-09-25 03:20:39,287][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:20:39,904][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 03:20:40,204][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.300030518043794, -0.011635004196227428)
+[2026-09-25 03:20:40,204][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.30003052 -0.011635  ]
+[2026-09-25 03:20:40,331][root][INFO] - initializing, ....
+[2026-09-25 03:20:47,604][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.27 Hz
+[2026-09-25 03:20:50,334][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.05 Hz
+[2026-09-25 03:20:57,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.65 Hz
+[2026-09-25 03:20:58,024][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:20:58,025][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:21:00,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.56 Hz
+[2026-09-25 03:21:05,402][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.96 iterations per second over 30.00 seconds.
+[2026-09-25 03:21:05,403][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003891 s, max step_time: 0.076431 s
+[2026-09-25 03:21:07,608][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.51 Hz
+[2026-09-25 03:21:08,258][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.18 iterations per second over 30.00 seconds.
+[2026-09-25 03:21:08,258][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003949 s, max step_time: 0.075162 s
+[2026-09-25 03:21:10,340][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.90 Hz
+[2026-09-25 03:21:17,610][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.27 Hz
+[2026-09-25 03:21:20,344][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.31 Hz
+[2026-09-25 03:21:27,611][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.25 Hz
+[2026-09-25 03:21:30,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.98 Hz
+[2026-09-25 03:21:35,404][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.85 iterations per second over 30.00 seconds.
+[2026-09-25 03:21:35,404][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003863 s, max step_time: 0.007289 s
+[2026-09-25 03:21:37,613][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
+[2026-09-25 03:21:38,260][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.91 iterations per second over 30.00 seconds.
+[2026-09-25 03:21:38,261][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003862 s, max step_time: 0.007311 s
+[2026-09-25 03:21:40,347][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.54 Hz
+[2026-09-25 03:21:47,617][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.20 Hz
+[2026-09-25 03:21:50,349][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.63 Hz
+[2026-09-25 03:21:57,619][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.94 Hz
+[2026-09-25 03:22:00,349][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.89 Hz
+[2026-09-25 03:22:05,406][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.88 iterations per second over 30.00 seconds.
+[2026-09-25 03:22:05,406][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003863 s, max step_time: 0.007684 s
+[2026-09-25 03:22:07,035][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:22:07,035][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:22:07,619][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.38 Hz
+[2026-09-25 03:22:08,262][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.42 iterations per second over 30.00 seconds.
+[2026-09-25 03:22:08,263][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003885 s, max step_time: 0.014665 s
+[2026-09-25 03:22:10,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.38 Hz
+[2026-09-25 03:22:17,621][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.57 Hz
+[2026-09-25 03:22:20,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.88 Hz
+[2026-09-25 03:22:27,625][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.00 Hz
+[2026-09-25 03:22:30,358][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.92 Hz
+[2026-09-25 03:22:35,407][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.66 iterations per second over 30.00 seconds.
+[2026-09-25 03:22:35,407][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003851 s, max step_time: 0.012957 s
+[2026-09-25 03:22:37,628][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.24 Hz
+[2026-09-25 03:22:38,262][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.27 iterations per second over 30.00 seconds.
+[2026-09-25 03:22:38,266][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003857 s, max step_time: 0.007846 s
+[2026-09-25 03:22:40,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.66 Hz
+[2026-09-25 03:22:47,628][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.89 Hz
+[2026-09-25 03:22:50,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.51 Hz
+[2026-09-25 03:22:54,805][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:22:54,805][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:22:57,629][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.58 Hz
+[2026-09-25 03:23:00,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.97 Hz
+[2026-09-25 03:23:05,409][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.41 iterations per second over 30.00 seconds.
+[2026-09-25 03:23:05,409][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003978 s, max step_time: 0.027813 s
+[2026-09-25 03:23:07,630][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.77 Hz
+[2026-09-25 03:23:08,264][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.45 iterations per second over 30.00 seconds.
+[2026-09-25 03:23:08,268][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003977 s, max step_time: 0.024356 s
+[2026-09-25 03:23:10,369][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.79 Hz
+[2026-09-25 03:23:17,634][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.80 Hz
+[2026-09-25 03:23:18,391][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:23:18,391][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:23:20,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.51 Hz
+[2026-09-25 03:23:27,636][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.23 Hz
+[2026-09-25 03:23:30,374][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.75 Hz
+[2026-09-25 03:23:35,412][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.81 iterations per second over 30.00 seconds.
+[2026-09-25 03:23:35,443][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003944 s, max step_time: 0.035116 s
+[2026-09-25 03:23:37,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.22 Hz
+[2026-09-25 03:23:38,266][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.52 iterations per second over 30.00 seconds.
+[2026-09-25 03:23:38,270][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003960 s, max step_time: 0.012257 s
+[2026-09-25 03:23:40,378][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.13 Hz
+[2026-09-25 03:23:42,141][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:23:42,142][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:23:47,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.30 Hz
+[2026-09-25 03:23:50,378][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.66 Hz
+[2026-09-25 03:23:57,640][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.17 Hz
+[2026-09-25 03:24:00,380][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.58 Hz
+[2026-09-25 03:24:05,413][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.39 iterations per second over 30.00 seconds.
+[2026-09-25 03:24:05,443][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003881 s, max step_time: 0.014930 s
+[2026-09-25 03:24:07,644][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.23 Hz
+[2026-09-25 03:24:08,269][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.44 iterations per second over 30.00 seconds.
+[2026-09-25 03:24:08,273][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003869 s, max step_time: 0.015383 s
+[2026-09-25 03:24:10,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.77 Hz
+[2026-09-25 03:24:17,646][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.81 Hz
+[2026-09-25 03:24:20,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.49 Hz
+[2026-09-25 03:24:27,647][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.29 Hz
+[2026-09-25 03:24:30,383][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.24 Hz
+[2026-09-25 03:24:35,413][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.76 iterations per second over 30.00 seconds.
+[2026-09-25 03:24:35,445][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003835 s, max step_time: 0.010657 s
+[2026-09-25 03:24:37,650][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.51 Hz
+[2026-09-25 03:24:38,270][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.69 iterations per second over 30.00 seconds.
+[2026-09-25 03:24:38,274][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003851 s, max step_time: 0.009313 s
+[2026-09-25 03:24:40,383][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.09 Hz
+[2026-09-25 03:24:47,654][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.76 Hz
+[2026-09-25 03:24:50,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.80 Hz
+[2026-09-25 03:24:57,652][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.29 Hz
+[2026-09-25 03:25:00,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.19 Hz
+[2026-09-25 03:25:05,415][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.31 iterations per second over 30.00 seconds.
+[2026-09-25 03:25:05,446][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 86 times, mean step_time: 0.003901 s, max step_time: 0.018719 s
+[2026-09-25 03:25:07,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.34 Hz
+[2026-09-25 03:25:08,273][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.94 iterations per second over 30.00 seconds.
+[2026-09-25 03:25:08,277][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 82 times, mean step_time: 0.003907 s, max step_time: 0.018903 s
+[2026-09-25 03:25:10,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.53 Hz
+[2026-09-25 03:25:12,624][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.15 iterations per second over 4.35 seconds.
+[2026-09-25 03:25:12,631][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.64 iterations per second over 7.22 seconds.
+[2026-09-25 03:25:13,993][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 03:25:13,994][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 03:25:13,994][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 03:25:13,994][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 03:25:13,994][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 03:25:13,995][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 03:25:13,995][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 03:25:13,995][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 03:25:13,995][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 03:25:13,996][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 03:25:13,996][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 03:25:13,996][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 03:25:13,996][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 03:25:13,996][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 03:25:13,996][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 03:25:13,996][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 03:25:13,996][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:25:13,996][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:25:13,996][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:25:13,997][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:25:13,997][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:25:13,997][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:25:13,997][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:25:13,997][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:25:13,997][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:25:13,997][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:25:13,997][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:25:13,997][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:25:13,997][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 03:25:13,997][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:25:13,998][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:25:14,010][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:25:14,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 03:25:14,032][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:25:14,043][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:25:14,054][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:14,065][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:25:14,076][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:25:14,087][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:14,098][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:25:14,109][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:25:14,120][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:14,131][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:25:14,142][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:25:14,153][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:14,164][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:25:14,176][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:25:14,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:14,198][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:25:14,209][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:25:14,220][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:14,231][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:25:14,231][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 03:25:14,231][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:25:14,231][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:25:14,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:25:14,341][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:25:14,395][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:25:14,450][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:25:14,504][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:25:14,558][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:25:14,612][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:25:14,612][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:25:14,612][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:25:14,612][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:25:14,623][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:25:14,628][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:25:14,634][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:25:14,640][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:25:14,646][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:25:14,652][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:25:14,658][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:25:14,665][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 03:25:14,665][root][INFO] - current_pos: [-0.003242542153047978, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0013351644159609322, 0.1821545738918129, 0.015449759670405072]
+[2026-09-25 03:25:14,665][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:25:14,665][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:25:14,766][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.003242542153047978, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790277914.7661924), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790277914.7661924), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790277914.7661924), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=41.0, timestamp=1790277914.7661924), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790277914.7661924), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.1825360494392303, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790277914.7661924), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790277914.7661924)]
+[2026-09-25 03:25:14,766][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:25:14,766][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0154
+[2026-09-25 03:25:14,766][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:25:15,390][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2699
+[2026-09-25 03:25:15,690][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:25:16,317][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 03:25:16,617][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269893949797819, -0.007438773174643032)
+[2026-09-25 03:25:16,617][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26989395 -0.00743877]
+[2026-09-25 03:25:16,852][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:25:16,852][root][INFO] - initializing, ....
+[2026-09-25 03:25:16,852][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:25:16,853][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:25:16,853][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:25:16,853][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:25:16,853][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:25:16,853][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:25:16,853][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:25:16,853][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:25:16,853][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:25:16,853][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:25:16,853][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:25:16,853][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 03:25:16,853][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:25:16,853][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:25:16,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:25:16,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:16,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:25:16,897][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:25:16,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:16,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:25:16,929][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:25:16,940][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:16,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:25:16,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:25:16,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:16,983][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:25:16,994][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:25:17,005][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:17,015][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:25:17,026][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:25:17,037][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:17,048][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:25:17,058][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:25:17,069][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:25:17,080][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:25:17,080][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 03:25:17,080][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:25:17,080][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:25:17,134][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:25:17,188][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:25:17,241][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:25:17,296][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:25:17,350][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:25:17,404][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:25:17,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:25:17,457][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:25:17,457][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:25:17,458][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:25:17,468][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:25:17,473][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:25:17,479][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:25:17,485][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:25:17,491][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:25:17,497][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:25:17,503][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:25:17,509][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 03:25:17,509][root][INFO] - current_pos: [-0.014305333028152845, -0.0020981155107957505, 0.000953688868543523, 0.0017166399633783413, -0.0001907377737087046, 0.07610437170977313, 0.04024567025253667]
+[2026-09-25 03:25:17,509][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:25:17,509][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:25:17,610][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=-0.014305333028152845, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790277917.6101773), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1790277917.6101773), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790277917.6101773), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790277917.6101773), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790277917.6101773), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.07610437170977313, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790277917.6101773), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.03986419470511926, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790277917.6101773)]
+[2026-09-25 03:25:17,610][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:25:17,610][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0399
+[2026-09-25 03:25:17,610][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:25:18,289][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554
+[2026-09-25 03:25:18,590][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:25:19,217][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 03:25:19,517][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.011635004196227428)
+[2026-09-25 03:25:19,518][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.011635  ]
+[2026-09-25 03:25:19,659][root][INFO] - initializing, ....
+[2026-09-25 03:25:26,857][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.74 Hz
+[2026-09-25 03:25:29,664][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.03 Hz
+[2026-09-25 03:25:36,859][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.44 Hz
+[2026-09-25 03:25:37,260][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:25:37,260][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:25:39,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.95 Hz
+[2026-09-25 03:25:44,670][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.67 iterations per second over 30.00 seconds.
+[2026-09-25 03:25:44,670][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003911 s, max step_time: 0.071565 s
+[2026-09-25 03:25:46,863][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.93 Hz
+[2026-09-25 03:25:47,511][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.29 iterations per second over 30.00 seconds.
+[2026-09-25 03:25:47,512][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003963 s, max step_time: 0.075678 s
+[2026-09-25 03:25:49,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.79 Hz
+[2026-09-25 03:25:56,863][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.69 Hz
+[2026-09-25 03:25:59,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.05 Hz
+[2026-09-25 03:26:06,866][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.24 Hz
+[2026-09-25 03:26:09,671][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.13 Hz
+[2026-09-25 03:26:14,671][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.19 iterations per second over 30.00 seconds.
+[2026-09-25 03:26:14,671][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003843 s, max step_time: 0.007510 s
+[2026-09-25 03:26:16,866][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.07 Hz
+[2026-09-25 03:26:17,511][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.30 iterations per second over 30.00 seconds.
+[2026-09-25 03:26:17,515][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003856 s, max step_time: 0.008681 s
+[2026-09-25 03:26:19,672][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.98 Hz
+[2026-09-25 03:26:26,868][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.77 Hz
+[2026-09-25 03:26:29,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.40 Hz
+[2026-09-25 03:26:36,867][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.40 Hz
+[2026-09-25 03:26:39,676][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.38 Hz
+[2026-09-25 03:26:44,674][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.40 iterations per second over 30.00 seconds.
+[2026-09-25 03:26:44,674][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003855 s, max step_time: 0.007801 s
+[2026-09-25 03:26:46,871][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.92 Hz
+[2026-09-25 03:26:47,514][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.61 iterations per second over 30.00 seconds.
+[2026-09-25 03:26:47,518][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003852 s, max step_time: 0.007054 s
+[2026-09-25 03:26:49,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.38 Hz
+[2026-09-25 03:26:56,872][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.05 Hz
+[2026-09-25 03:26:59,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.28 Hz
+[2026-09-25 03:27:06,875][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.93 Hz
+[2026-09-25 03:27:09,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.69 Hz
+[2026-09-25 03:27:14,679][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.00 iterations per second over 30.00 seconds.
+[2026-09-25 03:27:14,679][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003876 s, max step_time: 0.007579 s
+[2026-09-25 03:27:16,876][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.67 Hz
+[2026-09-25 03:27:17,515][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.39 iterations per second over 30.00 seconds.
+[2026-09-25 03:27:17,519][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003885 s, max step_time: 0.007181 s
+[2026-09-25 03:27:19,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.54 Hz
+[2026-09-25 03:27:26,880][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.02 Hz
+[2026-09-25 03:27:29,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.71 Hz
+[2026-09-25 03:27:36,879][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.89 Hz
+[2026-09-25 03:27:39,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.39 Hz
+[2026-09-25 03:27:44,683][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.46 iterations per second over 30.00 seconds.
+[2026-09-25 03:27:46,885][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.26 Hz
+[2026-09-25 03:27:47,516][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.89 iterations per second over 30.00 seconds.
+[2026-09-25 03:27:47,520][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003863 s, max step_time: 0.007123 s
+[2026-09-25 03:27:49,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.68 Hz
+[2026-09-25 03:27:55,638][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003853 s, max step_time: 0.007215 s
+[2026-09-25 03:27:56,886][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.58 Hz
+[2026-09-25 03:27:59,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.79 Hz
+[2026-09-25 03:28:06,887][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.06 Hz
+[2026-09-25 03:28:09,688][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.94 Hz
+[2026-09-25 03:28:14,683][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.43 iterations per second over 30.00 seconds.
+[2026-09-25 03:28:16,891][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.66 Hz
+[2026-09-25 03:28:17,516][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.03 iterations per second over 30.00 seconds.
+[2026-09-25 03:28:17,521][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: 0.007073 s
+[2026-09-25 03:28:19,690][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.46 Hz
+[2026-09-25 03:28:25,640][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003886 s, max step_time: 0.009372 s
+[2026-09-25 03:28:26,891][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.04 Hz
+[2026-09-25 03:28:29,691][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.60 Hz
+[2026-09-25 03:28:36,892][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.39 Hz
+[2026-09-25 03:28:39,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.74 Hz
+[2026-09-25 03:28:44,683][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.57 iterations per second over 30.00 seconds.
+[2026-09-25 03:28:45,905][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:28:45,905][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:28:46,893][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.08 Hz
+[2026-09-25 03:28:47,520][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.37 iterations per second over 30.00 seconds.
+[2026-09-25 03:28:47,523][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004042 s, max step_time: 0.020640 s
+[2026-09-25 03:28:49,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.88 Hz
+[2026-09-25 03:28:55,642][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004013 s, max step_time: 0.020726 s
+[2026-09-25 03:28:56,896][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.12 Hz
+[2026-09-25 03:28:59,694][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.87 Hz
+[2026-09-25 03:29:06,897][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.08 Hz
+[2026-09-25 03:29:09,695][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.19 Hz
+[2026-09-25 03:29:14,686][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.28 iterations per second over 30.00 seconds.
+[2026-09-25 03:29:16,897][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.89 Hz
+[2026-09-25 03:29:17,520][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.96 iterations per second over 30.00 seconds.
+[2026-09-25 03:29:17,524][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003877 s, max step_time: 0.008906 s
+[2026-09-25 03:29:19,697][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.27 Hz
+[2026-09-25 03:29:25,645][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003866 s, max step_time: 0.010182 s
+[2026-09-25 03:29:26,899][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.96 Hz
+[2026-09-25 03:29:29,698][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.53 Hz
+[2026-09-25 03:29:36,899][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.17 Hz
+[2026-09-25 03:29:39,701][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.75 Hz
+[2026-09-25 03:29:44,687][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.22 iterations per second over 30.00 seconds.
+[2026-09-25 03:29:46,901][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.37 Hz
+[2026-09-25 03:29:47,522][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.55 iterations per second over 30.00 seconds.
+[2026-09-25 03:29:47,526][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.003838 s, max step_time: 0.010178 s
+[2026-09-25 03:29:49,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.42 Hz
+[2026-09-25 03:29:55,646][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 55 times, mean step_time: 0.003837 s, max step_time: 0.010352 s
+[2026-09-25 03:29:56,901][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.90 Hz
+[2026-09-25 03:29:59,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.40 Hz
+[2026-09-25 03:30:06,904][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.74 Hz
+[2026-09-25 03:30:09,708][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.90 Hz
+[2026-09-25 03:30:12,984][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:30:12,984][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:30:14,691][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.20 iterations per second over 30.00 seconds.
+[2026-09-25 03:30:16,908][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.27 Hz
+[2026-09-25 03:30:17,525][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.41 iterations per second over 30.00 seconds.
+[2026-09-25 03:30:17,529][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 73 times, mean step_time: 0.003931 s, max step_time: 0.057554 s
+[2026-09-25 03:30:19,709][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.17 Hz
+[2026-09-25 03:30:25,647][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 90 times, mean step_time: 0.003919 s, max step_time: 0.014452 s
+[2026-09-25 03:30:26,910][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.46 Hz
+[2026-09-25 03:30:29,709][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.09 Hz
+[2026-09-25 03:30:36,914][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.21 Hz
+[2026-09-25 03:30:39,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.96 Hz
+[2026-09-25 03:30:44,694][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.91 iterations per second over 30.00 seconds.
+[2026-09-25 03:30:46,028][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.29 iterations per second over 28.50 seconds.
+[2026-09-25 03:30:46,036][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 264.66 iterations per second over 1.34 seconds.
+[2026-09-25 03:30:47,795][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 03:30:47,796][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 03:30:47,796][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 03:30:47,796][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 03:30:47,796][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 03:30:47,796][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 03:30:47,796][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 03:30:47,796][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 03:30:47,797][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 03:30:47,798][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 03:30:47,798][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 03:30:47,798][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 03:30:47,798][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 03:30:47,798][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 03:30:47,798][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 03:30:47,798][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 03:30:47,798][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:30:47,799][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:30:47,799][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:30:47,799][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:30:47,799][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:30:47,799][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:30:47,799][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:30:47,799][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:30:47,799][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:30:47,799][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:30:47,799][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:30:47,799][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:30:47,799][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 03:30:47,799][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:30:47,800][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:30:47,811][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:30:47,822][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 03:30:47,833][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:30:47,844][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:30:47,855][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:47,866][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:30:47,877][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:30:47,888][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:47,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:30:47,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:30:47,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:47,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:30:47,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:30:47,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:47,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:30:47,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:30:47,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:47,998][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:30:48,009][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:30:48,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:48,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:30:48,031][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 03:30:48,031][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:30:48,031][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:30:48,085][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:30:48,140][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:30:48,194][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:30:48,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:30:48,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:30:48,356][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:30:48,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:30:48,410][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:30:48,410][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:30:48,411][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:30:48,421][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:30:48,426][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:30:48,433][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:30:48,439][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:30:48,445][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:30:48,451][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:30:48,457][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:30:48,463][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=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 03:30:48,463][root][INFO] - current_pos: [-0.003242542153047978, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.0013351644159609322, 0.1825360494392303, -0.0013351644159609322]
+[2026-09-25 03:30:48,463][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:30:48,463][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:30:48,564][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.003242542153047978, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790278248.5640552), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790278248.5640552), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790278248.5640552), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=41.0, timestamp=1790278248.5640552), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790278248.5640552), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.1825360494392303, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790278248.5640552), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790278248.5640552)]
+[2026-09-25 03:30:48,564][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:30:48,564][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013
+[2026-09-25 03:30:48,564][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:30:49,189][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2699
+[2026-09-25 03:30:49,490][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:30:50,120][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 03:30:50,421][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269893949797819, -0.007438773174643032)
+[2026-09-25 03:30:50,421][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26989395 -0.00743877]
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 03:30:50,659][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 03:30:50,659][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 03:30:50,659][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 03:30:50,660][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:30:50,660][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:30:50,661][root][INFO] - initializing, ....
+[2026-09-25 03:30:50,671][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 03:30:50,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:50,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:30:50,704][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 03:30:50,715][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:50,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:30:50,738][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 03:30:50,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:50,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 03:30:50,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 03:30:50,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:50,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:30:50,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 03:30:50,816][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:50,827][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:30:50,839][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 03:30:50,850][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:50,861][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:30:50,873][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 03:30:50,884][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 03:30:50,895][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 03:30:50,896][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.24 s (7 motor(s))
+[2026-09-25 03:30:50,896][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 03:30:50,896][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:30:50,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:30:51,006][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:30:51,060][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 03:30:51,114][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:30:51,167][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:30:51,221][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:30:51,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 03:30:51,276][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 03:30:51,276][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 03:30:51,276][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 03:30:51,287][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 03:30:51,293][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 03:30:51,299][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 03:30:51,305][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 03:30:51,311][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 03:30:51,319][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 03:30:51,325][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 03:30:51,331][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 03:30:51,331][root][INFO] - current_pos: [-0.05436026550698081, -0.0020981155107957505, 0.0005722133211261138, 0.0017166399633783413, -0.0040054932478827965, -0.0024795910582131597, 0.3664072632944233]
+[2026-09-25 03:30:51,331][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 03:30:51,331][root][INFO] - starting separate thread for control loop
+[2026-09-25 03:30:51,431][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.05436026550698081, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790278251.4318712), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1790278251.4318712), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790278251.4318712), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1790278251.4318712), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0040054932478827965, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790278251.4318712), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0028610666056341216, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790278251.4318712), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.3664072632944233, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790278251.4318712)]
+[2026-09-25 03:30:51,432][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 03:30:51,432][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.3664
+[2026-09-25 03:30:51,432][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 03:30:52,102][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554
+[2026-09-25 03:30:52,402][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 03:30:53,069][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 03:30:53,370][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011635004196227428)
+[2026-09-25 03:30:53,370][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.011635  ]
+[2026-09-25 03:30:53,495][root][INFO] - initializing, ....
+[2026-09-25 03:31:00,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.90 Hz
+[2026-09-25 03:31:03,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.08 Hz
+[2026-09-25 03:31:10,665][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.14 Hz
+[2026-09-25 03:31:13,501][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.62 Hz
+[2026-09-25 03:31:18,467][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.27 iterations per second over 30.00 seconds.
+[2026-09-25 03:31:18,467][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003871 s, max step_time: 0.075749 s
+[2026-09-25 03:31:20,665][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.07 Hz
+[2026-09-25 03:31:21,335][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.04 iterations per second over 30.00 seconds.
+[2026-09-25 03:31:21,335][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003921 s, max step_time: 0.075262 s
+[2026-09-25 03:31:22,111][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:31:22,111][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:31:23,503][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.26 Hz
+[2026-09-25 03:31:30,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.46 Hz
+[2026-09-25 03:31:33,505][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.74 Hz
+[2026-09-25 03:31:40,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.84 Hz
+[2026-09-25 03:31:43,507][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.06 Hz
+[2026-09-25 03:31:48,469][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.18 iterations per second over 30.00 seconds.
+[2026-09-25 03:31:48,469][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003873 s, max step_time: 0.018417 s
+[2026-09-25 03:31:50,671][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.75 Hz
+[2026-09-25 03:31:51,338][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.84 iterations per second over 30.00 seconds.
+[2026-09-25 03:31:51,338][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003863 s, max step_time: 0.020118 s
+[2026-09-25 03:31:53,510][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.33 Hz
+[2026-09-25 03:32:00,673][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.83 Hz
+[2026-09-25 03:32:03,513][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.33 Hz
+[2026-09-25 03:32:07,220][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:32:07,220][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:32:10,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.32 Hz
+[2026-09-25 03:32:13,513][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.49 Hz
+[2026-09-25 03:32:18,472][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.27 iterations per second over 30.00 seconds.
+[2026-09-25 03:32:18,472][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003902 s, max step_time: 0.009324 s
+[2026-09-25 03:32:20,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.38 Hz
+[2026-09-25 03:32:21,338][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.90 iterations per second over 30.00 seconds.
+[2026-09-25 03:32:21,338][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003908 s, max step_time: 0.010437 s
+[2026-09-25 03:32:23,515][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.25 Hz
+[2026-09-25 03:32:30,680][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.16 Hz
+[2026-09-25 03:32:33,517][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.04 Hz
+[2026-09-25 03:32:40,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.37 Hz
+[2026-09-25 03:32:43,519][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.95 Hz
+[2026-09-25 03:32:48,474][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.69 iterations per second over 30.00 seconds.
+[2026-09-25 03:32:50,683][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.55 Hz
+[2026-09-25 03:32:51,340][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.29 iterations per second over 30.00 seconds.
+[2026-09-25 03:32:51,340][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003857 s, max step_time: 0.007066 s
+[2026-09-25 03:32:53,521][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.63 Hz
+[2026-09-25 03:32:59,542][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003857 s, max step_time: 0.007038 s
+[2026-09-25 03:33:00,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.64 Hz
+[2026-09-25 03:33:03,522][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.59 Hz
+[2026-09-25 03:33:07,109][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:33:07,109][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:33:10,687][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.17 Hz
+[2026-09-25 03:33:13,524][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.55 Hz
+[2026-09-25 03:33:18,475][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.09 iterations per second over 30.00 seconds.
+[2026-09-25 03:33:20,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.96 Hz
+[2026-09-25 03:33:21,340][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.27 iterations per second over 30.00 seconds.
+[2026-09-25 03:33:21,340][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003933 s, max step_time: 0.016101 s
+[2026-09-25 03:33:23,528][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.42 Hz
+[2026-09-25 03:33:29,542][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003912 s, max step_time: 0.015205 s
+[2026-09-25 03:33:30,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.05 Hz
+[2026-09-25 03:33:33,531][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.63 Hz
+[2026-09-25 03:33:40,692][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.74 Hz
+[2026-09-25 03:33:43,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.54 Hz
+[2026-09-25 03:33:48,475][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.16 iterations per second over 30.00 seconds.
+[2026-09-25 03:33:50,694][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.15 Hz
+[2026-09-25 03:33:51,341][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.23 iterations per second over 30.00 seconds.
+[2026-09-25 03:33:51,341][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003843 s, max step_time: 0.007175 s
+[2026-09-25 03:33:53,533][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.39 Hz
+[2026-09-25 03:34:00,695][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.77 Hz
+[2026-09-25 03:34:03,026][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003847 s, max step_time: 0.008105 s
+[2026-09-25 03:34:03,536][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.32 Hz
+[2026-09-25 03:34:10,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.30 Hz
+[2026-09-25 03:34:13,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.34 Hz
+[2026-09-25 03:34:14,911][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:34:14,911][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 03:34:18,477][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.08 iterations per second over 30.00 seconds.
+[2026-09-25 03:34:20,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.82 Hz
+[2026-09-25 03:34:21,343][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.82 iterations per second over 30.00 seconds.
+[2026-09-25 03:34:21,343][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003924 s, max step_time: 0.018199 s
+[2026-09-25 03:34:23,540][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.89 Hz
+[2026-09-25 03:34:30,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.49 Hz
+[2026-09-25 03:34:33,028][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003938 s, max step_time: 0.016188 s
+[2026-09-25 03:34:33,540][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.57 Hz
+[2026-09-25 03:34:40,705][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.13 Hz
+[2026-09-25 03:34:43,544][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.10 Hz
+[2026-09-25 03:34:48,481][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.73 iterations per second over 30.00 seconds.
+[2026-09-25 03:34:50,705][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.27 Hz
+[2026-09-25 03:34:51,345][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.58 iterations per second over 30.00 seconds.
+[2026-09-25 03:34:51,345][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003882 s, max step_time: 0.009792 s
+[2026-09-25 03:34:53,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.32 Hz
+[2026-09-25 03:35:00,707][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.59 Hz
+[2026-09-25 03:35:03,028][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.003883 s, max step_time: 0.010481 s
+[2026-09-25 03:35:03,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.83 Hz
+[2026-09-25 03:35:10,708][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.68 Hz
+[2026-09-25 03:35:13,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.73 Hz
+[2026-09-25 03:35:18,483][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.85 iterations per second over 30.00 seconds.
+[2026-09-25 03:35:20,712][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.40 Hz
+[2026-09-25 03:35:21,347][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.38 iterations per second over 30.00 seconds.
+[2026-09-25 03:35:21,347][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003900 s, max step_time: 0.010093 s
+[2026-09-25 03:35:23,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.48 Hz
+[2026-09-25 03:35:30,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.82 Hz
+[2026-09-25 03:35:33,028][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003908 s, max step_time: 0.010868 s
+[2026-09-25 03:35:33,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.22 Hz
+[2026-09-25 03:35:40,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.08 Hz
+[2026-09-25 03:35:43,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.09 Hz
+[2026-09-25 03:35:48,483][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.86 iterations per second over 30.00 seconds.
+[2026-09-25 03:35:50,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.67 Hz
+[2026-09-25 03:35:51,347][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.07 iterations per second over 30.00 seconds.
+[2026-09-25 03:35:51,347][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003890 s, max step_time: 0.010684 s
+[2026-09-25 03:35:53,558][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.38 Hz
+[2026-09-25 03:36:00,719][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.75 Hz
+[2026-09-25 03:36:03,030][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003860 s, max step_time: 0.011255 s
+[2026-09-25 03:36:03,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.35 Hz
+[2026-09-25 03:36:10,721][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.05 Hz
+[2026-09-25 03:36:13,563][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.63 Hz
+[2026-09-25 03:36:18,486][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.18 iterations per second over 30.00 seconds.
+[2026-09-25 03:36:20,723][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.84 Hz
+[2026-09-25 03:36:21,348][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.69 iterations per second over 30.00 seconds.
+[2026-09-25 03:36:21,348][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003851 s, max step_time: 0.009359 s
+[2026-09-25 03:36:23,566][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.69 Hz
+[2026-09-25 03:36:30,723][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.80 Hz
+[2026-09-25 03:36:33,032][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003847 s, max step_time: 0.011477 s
+[2026-09-25 03:36:33,567][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.28 Hz
+[2026-09-25 03:36:40,726][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.02 Hz
+[2026-09-25 03:36:43,568][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.19 Hz
+[2026-09-25 03:36:48,489][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.14 iterations per second over 30.00 seconds.
+[2026-09-25 03:36:50,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.75 Hz
+[2026-09-25 03:36:51,354][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.58 iterations per second over 30.01 seconds.
+[2026-09-25 03:36:51,354][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003867 s, max step_time: 0.011419 s
+[2026-09-25 03:36:53,570][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.24 Hz
+[2026-09-25 03:37:00,729][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.56 Hz
+[2026-09-25 03:37:03,033][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 31 times, mean step_time: 0.003878 s, max step_time: 0.009125 s
+[2026-09-25 03:37:03,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.20 Hz
+[2026-09-25 03:37:10,731][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.25 Hz
+[2026-09-25 03:37:13,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.39 Hz
+[2026-09-25 03:37:18,491][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.85 iterations per second over 30.00 seconds.
+[2026-09-25 03:37:20,733][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.27 Hz
+[2026-09-25 03:37:21,357][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.28 iterations per second over 30.00 seconds.
+[2026-09-25 03:37:21,357][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003887 s, max step_time: 0.008851 s
+[2026-09-25 03:37:23,576][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.17 Hz
+[2026-09-25 03:37:30,734][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.08 Hz
+[2026-09-25 03:37:33,037][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003875 s, max step_time: 0.007401 s
+[2026-09-25 03:37:33,578][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.73 Hz
+[2026-09-25 03:37:40,736][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.72 Hz
+[2026-09-25 03:37:43,581][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.44 Hz
+[2026-09-25 03:37:48,491][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.00 iterations per second over 30.00 seconds.
+[2026-09-25 03:37:50,737][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.60 Hz
+[2026-09-25 03:37:51,359][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.85 iterations per second over 30.00 seconds.
+[2026-09-25 03:37:51,359][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003893 s, max step_time: 0.008657 s
+[2026-09-25 03:37:53,581][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.60 Hz
+[2026-09-25 03:38:00,739][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.23 Hz
+[2026-09-25 03:38:03,038][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003892 s, max step_time: 0.007766 s
+[2026-09-25 03:38:03,582][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.46 Hz
+[2026-09-25 03:38:10,742][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.14 Hz
+[2026-09-25 03:38:13,583][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.77 Hz
+[2026-09-25 03:38:18,493][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.98 iterations per second over 30.00 seconds.
+[2026-09-25 03:38:20,745][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.17 Hz
+[2026-09-25 03:38:21,364][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.90 iterations per second over 30.00 seconds.
+[2026-09-25 03:38:21,364][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003878 s, max step_time: 0.007201 s
+[2026-09-25 03:38:23,584][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.47 Hz
+[2026-09-25 03:38:30,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.60 Hz
+[2026-09-25 03:38:33,040][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003873 s, max step_time: 0.007215 s
+[2026-09-25 03:38:33,585][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.59 Hz
+[2026-09-25 03:38:40,743][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
+[2026-09-25 03:38:43,588][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.10 Hz
+[2026-09-25 03:38:48,496][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.81 iterations per second over 30.00 seconds.
+[2026-09-25 03:38:50,746][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.15 Hz
+[2026-09-25 03:38:51,364][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.33 iterations per second over 30.00 seconds.
+[2026-09-25 03:38:51,364][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003901 s, max step_time: 0.007680 s
+[2026-09-25 03:38:53,591][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.24 Hz
+[2026-09-25 03:39:00,745][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.00 Hz
+[2026-09-25 03:39:03,041][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003888 s, max step_time: 0.008002 s
+[2026-09-25 03:39:03,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.18 Hz
+[2026-09-25 03:39:10,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.32 Hz
+[2026-09-25 03:39:13,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.09 Hz
+[2026-09-25 03:39:18,499][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.11 iterations per second over 30.00 seconds.
+[2026-09-25 03:39:20,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.17 Hz
+[2026-09-25 03:39:21,364][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.83 iterations per second over 30.00 seconds.
+[2026-09-25 03:39:21,364][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003878 s, max step_time: 0.061118 s
+[2026-09-25 03:39:23,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.29 Hz
+[2026-09-25 03:39:30,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.80 Hz
+[2026-09-25 03:39:33,045][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003878 s, max step_time: 0.007674 s
+[2026-09-25 03:39:33,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.99 Hz
+[2026-09-25 03:39:40,750][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.88 Hz
+[2026-09-25 03:39:43,594][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.87 Hz
+[2026-09-25 03:39:48,499][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.66 iterations per second over 30.00 seconds.
+[2026-09-25 03:39:50,753][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.24 Hz
+[2026-09-25 03:39:51,364][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.10 iterations per second over 30.00 seconds.
+[2026-09-25 03:39:51,365][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003890 s, max step_time: 0.007168 s
+[2026-09-25 03:39:53,598][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.59 Hz
+[2026-09-25 03:40:00,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.93 Hz
+[2026-09-25 03:40:03,048][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003877 s, max step_time: 0.007447 s
+[2026-09-25 03:40:03,601][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.04 Hz
+[2026-09-25 03:40:10,761][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.17 Hz
+[2026-09-25 03:40:13,601][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.29 Hz
+[2026-09-25 03:40:18,500][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.69 iterations per second over 30.00 seconds.
+[2026-09-25 03:40:20,762][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.99 Hz
+[2026-09-25 03:40:21,365][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.03 iterations per second over 30.00 seconds.
+[2026-09-25 03:40:21,365][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003906 s, max step_time: 0.007504 s
+[2026-09-25 03:40:23,606][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.93 Hz
+[2026-09-25 03:40:30,761][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.97 Hz
+[2026-09-25 03:40:33,051][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003896 s, max step_time: 0.008266 s
+[2026-09-25 03:40:33,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.88 Hz
+[2026-09-25 03:40:40,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.97 Hz
+[2026-09-25 03:40:43,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.07 Hz
+[2026-09-25 03:40:48,501][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.59 iterations per second over 30.00 seconds.
+[2026-09-25 03:40:50,765][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.05 Hz
+[2026-09-25 03:40:51,368][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.34 iterations per second over 30.00 seconds.
+[2026-09-25 03:40:51,369][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003871 s, max step_time: 0.011257 s
+[2026-09-25 03:40:53,611][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.33 Hz
+[2026-09-25 03:41:00,766][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.86 Hz
+[2026-09-25 03:41:03,054][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003872 s, max step_time: 0.010257 s
+[2026-09-25 03:41:03,612][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.52 Hz
+[2026-09-25 03:41:10,766][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.80 Hz
+[2026-09-25 03:41:13,612][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.89 Hz
+[2026-09-25 03:41:18,502][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.96 iterations per second over 30.00 seconds.
+[2026-09-25 03:41:20,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.78 Hz
+[2026-09-25 03:41:21,369][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.82 iterations per second over 30.00 seconds.
+[2026-09-25 03:41:21,369][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003864 s, max step_time: 0.009506 s
+[2026-09-25 03:41:23,615][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.53 Hz
+[2026-09-25 03:41:30,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.46 Hz
+[2026-09-25 03:41:33,057][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003838 s, max step_time: 0.010762 s
+[2026-09-25 03:41:33,616][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.56 Hz
+[2026-09-25 03:41:40,771][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.63 Hz
+[2026-09-25 03:41:43,619][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.81 Hz
+[2026-09-25 03:41:48,505][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.14 iterations per second over 30.00 seconds.
+[2026-09-25 03:41:50,775][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.71 Hz
+[2026-09-25 03:41:51,370][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.40 iterations per second over 30.00 seconds.
+[2026-09-25 03:41:51,370][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003855 s, max step_time: 0.009287 s
+[2026-09-25 03:41:53,620][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.60 Hz
+[2026-09-25 03:42:00,777][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.36 Hz
+[2026-09-25 03:42:03,061][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 60 times, mean step_time: 0.003873 s, max step_time: 0.009166 s
+[2026-09-25 03:42:03,620][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.29 Hz
+[2026-09-25 03:42:10,780][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.14 Hz
+[2026-09-25 03:42:13,623][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.83 Hz
+[2026-09-25 03:42:18,505][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.37 iterations per second over 30.00 seconds.
+[2026-09-25 03:42:20,783][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.01 Hz
+[2026-09-25 03:42:21,371][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.92 iterations per second over 30.00 seconds.
+[2026-09-25 03:42:21,371][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003877 s, max step_time: 0.009800 s
+[2026-09-25 03:42:23,625][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.04 Hz
+[2026-09-25 03:42:30,783][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.40 Hz
+[2026-09-25 03:42:33,066][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003866 s, max step_time: 0.009662 s
+[2026-09-25 03:42:33,626][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.79 Hz
+[2026-09-25 03:42:40,785][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.04 Hz
+[2026-09-25 03:42:43,626][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.10 Hz
+[2026-09-25 03:42:48,506][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.22 iterations per second over 30.00 seconds.
+[2026-09-25 03:42:50,786][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.57 Hz
+[2026-09-25 03:42:51,375][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.54 iterations per second over 30.00 seconds.
+[2026-09-25 03:42:51,375][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003883 s, max step_time: 0.012146 s
+[2026-09-25 03:42:53,626][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.30 Hz
+[2026-09-25 03:43:00,791][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.80 Hz
+[2026-09-25 03:43:03,067][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003889 s, max step_time: 0.012109 s
+[2026-09-25 03:43:03,630][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.82 Hz
+[2026-09-25 03:43:10,791][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.29 Hz
+[2026-09-25 03:43:13,631][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.34 Hz
+[2026-09-25 03:43:18,509][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.17 iterations per second over 30.00 seconds.
+[2026-09-25 03:43:20,794][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.94 Hz
+[2026-09-25 03:43:21,376][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.22 iterations per second over 30.00 seconds.
+[2026-09-25 03:43:21,377][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003873 s, max step_time: 0.008816 s
+[2026-09-25 03:43:23,632][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
+[2026-09-25 03:43:30,793][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.70 Hz
+[2026-09-25 03:43:33,068][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003874 s, max step_time: 0.007733 s
+[2026-09-25 03:43:33,633][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.68 Hz
+[2026-09-25 03:43:40,797][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.01 Hz
+[2026-09-25 03:43:43,634][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.58 Hz
+[2026-09-25 03:43:48,511][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.55 iterations per second over 30.00 seconds.
+[2026-09-25 03:43:50,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.62 Hz
+[2026-09-25 03:43:51,379][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.67 iterations per second over 30.00 seconds.
+[2026-09-25 03:43:51,380][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003896 s, max step_time: 0.008454 s
+[2026-09-25 03:43:53,635][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.49 Hz
+[2026-09-25 03:44:00,803][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.95 Hz
+[2026-09-25 03:44:03,071][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003881 s, max step_time: 0.007363 s
+[2026-09-25 03:44:03,637][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.04 Hz
+[2026-09-25 03:44:10,803][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.18 Hz
+[2026-09-25 03:44:13,638][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.08 Hz
+[2026-09-25 03:44:18,513][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.85 iterations per second over 30.00 seconds.
+[2026-09-25 03:44:20,804][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.67 Hz
+[2026-09-25 03:44:21,380][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.86 iterations per second over 30.00 seconds.
+[2026-09-25 03:44:23,640][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
+[2026-09-25 03:44:30,807][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.72 Hz
+[2026-09-25 03:44:33,642][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.92 Hz
+[2026-09-25 03:44:40,810][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.93 Hz
+[2026-09-25 03:44:41,712][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003886 s, max step_time: 0.007011 s
+[2026-09-25 03:44:43,643][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.17 Hz
+[2026-09-25 03:44:48,516][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.98 iterations per second over 30.00 seconds.
+[2026-09-25 03:44:50,655][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003879 s, max step_time: 0.007013 s
+[2026-09-25 03:44:50,813][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.61 Hz
+[2026-09-25 03:44:51,381][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.69 iterations per second over 30.00 seconds.
+[2026-09-25 03:44:53,644][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.19 Hz
+[2026-09-25 03:45:00,818][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.39 Hz
+[2026-09-25 03:45:03,649][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.86 Hz
+[2026-09-25 03:45:10,819][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.87 Hz
+[2026-09-25 03:45:13,651][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.36 Hz
+[2026-09-25 03:45:14,173][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003852 s, max step_time: 0.007267 s
+[2026-09-25 03:45:18,519][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.04 iterations per second over 30.00 seconds.
+[2026-09-25 03:45:20,659][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003878 s, max step_time: 0.007485 s
+[2026-09-25 03:45:20,819][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.60 Hz
+[2026-09-25 03:45:21,386][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.99 iterations per second over 30.00 seconds.
+[2026-09-25 03:45:23,653][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.86 Hz
+[2026-09-25 03:45:30,821][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.17 Hz
+[2026-09-25 03:45:33,653][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.17 Hz
+[2026-09-25 03:45:40,823][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.33 Hz
+[2026-09-25 03:45:43,656][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.01 Hz
+[2026-09-25 03:45:44,177][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003892 s, max step_time: 0.007063 s
+[2026-09-25 03:45:48,520][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.86 iterations per second over 30.00 seconds.
+[2026-09-25 03:45:50,660][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003897 s, max step_time: 0.007331 s
+[2026-09-25 03:45:50,824][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.77 Hz
+[2026-09-25 03:45:51,389][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.48 iterations per second over 30.00 seconds.
+[2026-09-25 03:45:53,657][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.78 Hz
+[2026-09-25 03:46:00,826][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.55 Hz
+[2026-09-25 03:46:03,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.19 Hz
+[2026-09-25 03:46:10,829][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.85 Hz
+[2026-09-25 03:46:13,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.15 Hz
+[2026-09-25 03:46:14,178][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003879 s, max step_time: 0.007648 s
+[2026-09-25 03:46:18,522][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.01 iterations per second over 30.00 seconds.
+[2026-09-25 03:46:20,661][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003893 s, max step_time: 0.007684 s
+[2026-09-25 03:46:20,830][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.13 Hz
+[2026-09-25 03:46:21,392][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.04 iterations per second over 30.00 seconds.
+[2026-09-25 03:46:23,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.31 Hz
+[2026-09-25 03:46:30,833][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.43 Hz
+[2026-09-25 03:46:33,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.90 Hz
+[2026-09-25 03:46:40,834][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.77 Hz
+[2026-09-25 03:46:43,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.07 Hz
+[2026-09-25 03:46:44,181][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003880 s, max step_time: 0.008727 s
+[2026-09-25 03:46:48,522][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.16 iterations per second over 30.00 seconds.
+[2026-09-25 03:46:50,664][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003877 s, max step_time: 0.010218 s
+[2026-09-25 03:46:50,838][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.21 Hz
+[2026-09-25 03:46:51,394][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.88 iterations per second over 30.00 seconds.
+[2026-09-25 03:46:53,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.97 Hz
+[2026-09-25 03:47:00,840][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.13 Hz
+[2026-09-25 03:47:03,672][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.94 Hz
+[2026-09-25 03:47:10,841][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.79 Hz
+[2026-09-25 03:47:13,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.21 Hz
+[2026-09-25 03:47:14,184][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.003865 s, max step_time: 0.012346 s
+[2026-09-25 03:47:18,524][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.09 iterations per second over 30.00 seconds.
+[2026-09-25 03:47:20,666][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003883 s, max step_time: 0.012710 s
+[2026-09-25 03:47:20,842][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.66 Hz
+[2026-09-25 03:47:21,395][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.59 iterations per second over 30.00 seconds.
+[2026-09-25 03:47:23,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.93 Hz
+[2026-09-25 03:47:30,844][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.75 Hz
+[2026-09-25 03:47:33,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.79 Hz
+[2026-09-25 03:47:40,845][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.57 Hz
+[2026-09-25 03:47:43,680][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.68 Hz
+[2026-09-25 03:47:44,188][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003856 s, max step_time: 0.011015 s
+[2026-09-25 03:47:48,525][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.06 iterations per second over 30.00 seconds.
+[2026-09-25 03:47:50,668][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003871 s, max step_time: 0.011998 s
+[2026-09-25 03:47:50,846][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.15 Hz
+[2026-09-25 03:47:51,396][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.19 iterations per second over 30.00 seconds.
+[2026-09-25 03:47:53,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.93 Hz
+[2026-09-25 03:48:00,847][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.08 Hz
+[2026-09-25 03:48:03,683][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.37 Hz
+[2026-09-25 03:48:10,850][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.64 Hz
+[2026-09-25 03:48:13,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.06 Hz
+[2026-09-25 03:48:14,190][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003873 s, max step_time: 0.011114 s
+[2026-09-25 03:48:18,527][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.68 iterations per second over 30.00 seconds.
+[2026-09-25 03:48:20,674][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003882 s, max step_time: 0.010907 s
+[2026-09-25 03:48:20,852][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.98 Hz
+[2026-09-25 03:48:21,397][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.46 iterations per second over 30.00 seconds.
+[2026-09-25 03:48:23,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.58 Hz
+[2026-09-25 03:48:30,855][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.34 Hz
+[2026-09-25 03:48:33,687][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.87 Hz
+[2026-09-25 03:48:40,856][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.84 Hz
+[2026-09-25 03:48:43,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.76 Hz
+[2026-09-25 03:48:44,191][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 40 times, mean step_time: 0.003897 s, max step_time: 0.011419 s
+[2026-09-25 03:48:48,528][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.56 iterations per second over 30.00 seconds.
+[2026-09-25 03:48:50,678][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 36 times, mean step_time: 0.003918 s, max step_time: 0.011836 s
+[2026-09-25 03:48:50,857][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.15 Hz
+[2026-09-25 03:48:51,400][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.31 iterations per second over 30.00 seconds.
+[2026-09-25 03:48:53,692][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.39 Hz
+[2026-09-25 03:49:00,858][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.78 Hz
+[2026-09-25 03:49:03,692][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.30 Hz
+[2026-09-25 03:49:10,861][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.64 Hz
+[2026-09-25 03:49:13,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.96 Hz
+[2026-09-25 03:49:14,191][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003896 s, max step_time: 0.008940 s
+[2026-09-25 03:49:18,530][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.88 iterations per second over 30.00 seconds.
+[2026-09-25 03:49:20,681][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003888 s, max step_time: 0.009280 s
+[2026-09-25 03:49:20,863][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.45 Hz
+[2026-09-25 03:49:21,403][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.24 iterations per second over 30.00 seconds.
+[2026-09-25 03:49:23,697][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.92 Hz
+[2026-09-25 03:49:30,863][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.10 Hz
+[2026-09-25 03:49:33,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.04 Hz
+[2026-09-25 03:49:40,865][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.06 Hz
+[2026-09-25 03:49:43,701][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.16 Hz
+[2026-09-25 03:49:44,195][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003872 s, max step_time: 0.007475 s
+[2026-09-25 03:49:48,530][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.73 iterations per second over 30.00 seconds.
+[2026-09-25 03:49:50,682][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003886 s, max step_time: 0.008095 s
+[2026-09-25 03:49:50,867][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.71 Hz
+[2026-09-25 03:49:51,406][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.37 iterations per second over 30.00 seconds.
+[2026-09-25 03:49:53,701][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.89 Hz
+[2026-09-25 03:50:00,870][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.63 Hz
+[2026-09-25 03:50:03,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.22 Hz
+[2026-09-25 03:50:10,874][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.30 Hz
+[2026-09-25 03:50:13,707][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.65 Hz
+[2026-09-25 03:50:14,197][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003899 s, max step_time: 0.007476 s
+[2026-09-25 03:50:18,533][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.38 iterations per second over 30.00 seconds.
+[2026-09-25 03:50:20,684][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003894 s, max step_time: 0.007395 s
+[2026-09-25 03:50:20,876][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.05 Hz
+[2026-09-25 03:50:21,408][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.85 iterations per second over 30.00 seconds.
+[2026-09-25 03:50:23,707][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.28 Hz
+[2026-09-25 03:50:30,876][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.69 Hz
+[2026-09-25 03:50:33,709][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.35 Hz
+[2026-09-25 03:50:40,880][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.59 Hz
+[2026-09-25 03:50:43,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.06 Hz
+[2026-09-25 03:50:44,199][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003866 s, max step_time: 0.007717 s
+[2026-09-25 03:50:48,535][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.71 iterations per second over 30.00 seconds.
+[2026-09-25 03:50:50,687][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003865 s, max step_time: 0.007222 s
+[2026-09-25 03:50:50,885][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.79 Hz
+[2026-09-25 03:50:51,411][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.78 iterations per second over 30.00 seconds.
+[2026-09-25 03:50:53,712][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.37 Hz
+[2026-09-25 03:51:00,888][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.51 Hz
+[2026-09-25 03:51:03,712][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.49 Hz
+[2026-09-25 03:51:10,892][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.11 Hz
+[2026-09-25 03:51:13,713][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.20 Hz
+[2026-09-25 03:51:14,200][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003875 s, max step_time: 0.007224 s
+[2026-09-25 03:51:18,539][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.03 iterations per second over 30.00 seconds.
+[2026-09-25 03:51:20,687][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003894 s, max step_time: 0.007608 s
+[2026-09-25 03:51:20,895][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.43 Hz
+[2026-09-25 03:51:21,414][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.67 iterations per second over 30.00 seconds.
+[2026-09-25 03:51:23,713][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.47 Hz
+[2026-09-25 03:51:30,897][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.65 Hz
+[2026-09-25 03:51:33,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.44 Hz
+[2026-09-25 03:51:40,897][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.79 Hz
+[2026-09-25 03:51:43,718][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.54 Hz
+[2026-09-25 03:51:44,201][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003883 s, max step_time: 0.008069 s
+[2026-09-25 03:51:48,542][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.01 iterations per second over 30.00 seconds.
+[2026-09-25 03:51:50,688][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003870 s, max step_time: 0.007821 s
+[2026-09-25 03:51:50,900][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.81 Hz
+[2026-09-25 03:51:51,416][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.38 iterations per second over 30.00 seconds.
+[2026-09-25 03:51:53,719][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.19 Hz
+[2026-09-25 03:52:00,901][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.69 Hz
+[2026-09-25 03:52:03,721][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.64 Hz
+[2026-09-25 03:52:10,904][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.43 Hz
+[2026-09-25 03:52:13,723][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
+[2026-09-25 03:52:14,203][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003873 s, max step_time: 0.010956 s
+[2026-09-25 03:52:18,542][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.60 iterations per second over 30.00 seconds.
+[2026-09-25 03:52:20,688][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003883 s, max step_time: 0.009918 s
+[2026-09-25 03:52:20,907][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.23 Hz
+[2026-09-25 03:52:21,421][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.66 iterations per second over 30.00 seconds.
+[2026-09-25 03:52:23,726][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.14 Hz
+[2026-09-25 03:52:30,910][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.05 Hz
+[2026-09-25 03:52:33,727][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.88 Hz
+[2026-09-25 03:52:40,909][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.49 Hz
+[2026-09-25 03:52:43,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.37 Hz
+[2026-09-25 03:52:44,204][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 38 times, mean step_time: 0.003885 s, max step_time: 0.009706 s
+[2026-09-25 03:52:48,544][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.69 iterations per second over 30.00 seconds.
+[2026-09-25 03:52:50,692][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003889 s, max step_time: 0.010018 s
+[2026-09-25 03:52:50,910][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.47 Hz
+[2026-09-25 03:52:51,421][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.20 iterations per second over 30.00 seconds.
+[2026-09-25 03:52:53,731][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.99 Hz
+[2026-09-25 03:53:00,912][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.76 Hz
+[2026-09-25 03:53:03,733][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.97 Hz
+[2026-09-25 03:53:10,914][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.63 Hz
+[2026-09-25 03:53:13,736][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.42 Hz
+[2026-09-25 03:53:14,204][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003883 s, max step_time: 0.009135 s
+[2026-09-25 03:53:18,545][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.62 iterations per second over 30.00 seconds.
+[2026-09-25 03:53:20,694][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 64 times, mean step_time: 0.003905 s, max step_time: 0.010306 s
+[2026-09-25 03:53:20,917][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.55 Hz
+[2026-09-25 03:53:21,423][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.02 iterations per second over 30.00 seconds.
+[2026-09-25 03:53:23,739][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.04 Hz
+[2026-09-25 03:53:30,917][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.08 Hz
+[2026-09-25 03:53:33,741][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.54 Hz
+[2026-09-25 03:53:40,919][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.30 Hz
+[2026-09-25 03:53:43,742][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.57 Hz
+[2026-09-25 03:53:44,207][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 59 times, mean step_time: 0.003884 s, max step_time: 0.010621 s
+[2026-09-25 03:53:48,548][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.08 iterations per second over 30.00 seconds.
+[2026-09-25 03:53:50,695][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003885 s, max step_time: 0.011152 s
+[2026-09-25 03:53:50,917][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.68 Hz
+[2026-09-25 03:53:51,424][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.19 iterations per second over 30.00 seconds.
+[2026-09-25 03:53:53,747][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.68 Hz
+[2026-09-25 03:54:00,920][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.84 Hz
+[2026-09-25 03:54:03,750][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.21 Hz
+[2026-09-25 03:54:10,922][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.58 Hz
+[2026-09-25 03:54:13,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.36 Hz
+[2026-09-25 03:54:14,209][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003879 s, max step_time: 0.009854 s
+[2026-09-25 03:54:18,548][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.03 iterations per second over 30.00 seconds.
+[2026-09-25 03:54:20,697][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.003879 s, max step_time: 0.013471 s
+[2026-09-25 03:54:20,924][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.92 Hz
+[2026-09-25 03:54:21,426][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.02 iterations per second over 30.00 seconds.
+[2026-09-25 03:54:23,754][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.33 Hz
+[2026-09-25 03:54:30,924][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.89 Hz
+[2026-09-25 03:54:33,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.29 Hz
+[2026-09-25 03:54:40,927][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.94 Hz
+[2026-09-25 03:54:43,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.07 Hz
+[2026-09-25 03:54:44,210][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003877 s, max step_time: 0.009895 s
+[2026-09-25 03:54:48,550][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.59 iterations per second over 30.00 seconds.
+[2026-09-25 03:54:50,698][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003884 s, max step_time: 0.009948 s
+[2026-09-25 03:54:50,929][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.10 Hz
+[2026-09-25 03:54:51,428][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.28 iterations per second over 30.00 seconds.
+[2026-09-25 03:54:53,757][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.99 Hz
+[2026-09-25 03:55:00,928][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.80 Hz
+[2026-09-25 03:55:03,759][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.93 Hz
+[2026-09-25 03:55:10,931][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.41 Hz
+[2026-09-25 03:55:13,761][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.95 Hz
+[2026-09-25 03:55:14,212][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003866 s, max step_time: 0.009477 s
+[2026-09-25 03:55:18,553][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.17 iterations per second over 30.00 seconds.
+[2026-09-25 03:55:20,699][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003886 s, max step_time: 0.009032 s
+[2026-09-25 03:55:20,933][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.42 Hz
+[2026-09-25 03:55:21,431][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.64 iterations per second over 30.00 seconds.
+[2026-09-25 03:55:23,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.02 Hz
+[2026-09-25 03:55:30,935][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.88 Hz
+[2026-09-25 03:55:33,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.40 Hz
+[2026-09-25 03:55:40,935][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.68 Hz
+[2026-09-25 03:55:43,765][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.06 Hz
+[2026-09-25 03:55:44,214][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003897 s, max step_time: 0.007953 s
+[2026-09-25 03:55:48,556][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.61 iterations per second over 30.00 seconds.
+[2026-09-25 03:55:50,701][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003908 s, max step_time: 0.007859 s
+[2026-09-25 03:55:50,937][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.47 Hz
+[2026-09-25 03:55:51,433][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.88 iterations per second over 30.00 seconds.
+[2026-09-25 03:55:53,768][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.73 Hz
+[2026-09-25 03:56:00,939][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.52 Hz
+[2026-09-25 03:56:03,771][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
+[2026-09-25 03:56:10,940][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.60 Hz
+[2026-09-25 03:56:13,772][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.83 Hz
+[2026-09-25 03:56:14,216][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003898 s, max step_time: 0.007605 s
+[2026-09-25 03:56:18,559][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.78 iterations per second over 30.00 seconds.
+[2026-09-25 03:56:20,704][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003903 s, max step_time: 0.007875 s
+[2026-09-25 03:56:20,940][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.48 Hz
+[2026-09-25 03:56:21,434][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.89 iterations per second over 30.00 seconds.
+[2026-09-25 03:56:23,776][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.42 Hz
+[2026-09-25 03:56:30,944][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.12 Hz
+[2026-09-25 03:56:33,781][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.64 Hz
+[2026-09-25 03:56:40,946][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.11 Hz
+[2026-09-25 03:56:43,780][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.84 Hz
+[2026-09-25 03:56:44,220][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003895 s, max step_time: 0.007201 s
+[2026-09-25 03:56:48,560][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.56 iterations per second over 30.00 seconds.
+[2026-09-25 03:56:50,705][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003913 s, max step_time: 0.007284 s
+[2026-09-25 03:56:50,949][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.53 Hz
+[2026-09-25 03:56:51,438][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.80 iterations per second over 30.00 seconds.
+[2026-09-25 03:56:53,783][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.35 Hz
+[2026-09-25 03:57:00,952][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.03 Hz
+[2026-09-25 03:57:03,785][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.85 Hz
+[2026-09-25 03:57:10,954][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.73 Hz
+[2026-09-25 03:57:13,786][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
+[2026-09-25 03:57:14,221][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003885 s, max step_time: 0.007399 s
+[2026-09-25 03:57:18,565][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.99 iterations per second over 30.00 seconds.
+[2026-09-25 03:57:20,706][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003882 s, max step_time: 0.007591 s
+[2026-09-25 03:57:20,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.12 Hz
+[2026-09-25 03:57:21,439][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.52 iterations per second over 30.00 seconds.
+[2026-09-25 03:57:23,790][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.29 Hz
+[2026-09-25 03:57:30,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.48 Hz
+[2026-09-25 03:57:33,793][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.43 Hz
+[2026-09-25 03:57:40,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.32 Hz
+[2026-09-25 03:57:43,794][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.28 Hz
+[2026-09-25 03:57:44,223][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003874 s, max step_time: 0.007619 s
+[2026-09-25 03:57:48,568][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.70 iterations per second over 30.00 seconds.
+[2026-09-25 03:57:50,706][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003883 s, max step_time: 0.007541 s
+[2026-09-25 03:57:50,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.38 Hz
+[2026-09-25 03:57:51,441][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.52 iterations per second over 30.00 seconds.
+[2026-09-25 03:57:53,796][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.55 Hz
+[2026-09-25 03:58:00,964][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.18 Hz
+[2026-09-25 03:58:03,798][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.34 Hz
+[2026-09-25 03:58:10,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.29 Hz
+[2026-09-25 03:58:13,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.16 Hz
+[2026-09-25 03:58:14,225][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003870 s, max step_time: 0.008279 s
+[2026-09-25 03:58:18,568][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.10 iterations per second over 30.00 seconds.
+[2026-09-25 03:58:20,710][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003877 s, max step_time: 0.009024 s
+[2026-09-25 03:58:20,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.25 Hz
+[2026-09-25 03:58:21,444][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.07 iterations per second over 30.00 seconds.
+[2026-09-25 03:58:23,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.57 Hz
+[2026-09-25 03:58:30,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.01 Hz
+[2026-09-25 03:58:33,802][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.66 Hz
+[2026-09-25 03:58:40,974][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.88 Hz
+[2026-09-25 03:58:43,805][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.43 Hz
+[2026-09-25 03:58:44,227][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003860 s, max step_time: 0.009679 s
+[2026-09-25 03:58:48,572][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.57 iterations per second over 30.00 seconds.
+[2026-09-25 03:58:50,711][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 40 times, mean step_time: 0.003862 s, max step_time: 0.010265 s
+[2026-09-25 03:58:50,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.61 Hz
+[2026-09-25 03:58:51,447][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.67 iterations per second over 30.00 seconds.
+[2026-09-25 03:58:53,806][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.16 Hz
+[2026-09-25 03:59:00,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.60 Hz
+[2026-09-25 03:59:03,807][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.77 Hz
+[2026-09-25 03:59:10,979][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.17 Hz
+[2026-09-25 03:59:13,811][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.40 Hz
+[2026-09-25 03:59:14,227][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 58 times, mean step_time: 0.003864 s, max step_time: 0.013529 s
+[2026-09-25 03:59:18,573][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.56 iterations per second over 30.00 seconds.
+[2026-09-25 03:59:20,712][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003870 s, max step_time: 0.009343 s
+[2026-09-25 03:59:20,979][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.59 Hz
+[2026-09-25 03:59:21,448][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.59 iterations per second over 30.00 seconds.
+[2026-09-25 03:59:23,813][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
+[2026-09-25 03:59:30,979][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.49 Hz
+[2026-09-25 03:59:33,812][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.39 Hz
+[2026-09-25 03:59:40,981][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.45 Hz
+[2026-09-25 03:59:43,815][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.22 Hz
+[2026-09-25 03:59:44,228][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 41 times, mean step_time: 0.003883 s, max step_time: 0.009995 s
+[2026-09-25 03:59:48,579][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.88 iterations per second over 30.01 seconds.
+[2026-09-25 03:59:50,714][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003887 s, max step_time: 0.010104 s
+[2026-09-25 03:59:50,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.67 Hz
+[2026-09-25 03:59:51,449][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.36 iterations per second over 30.00 seconds.
+[2026-09-25 03:59:53,815][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.90 Hz
+[2026-09-25 04:00:00,984][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.75 Hz
+[2026-09-25 04:00:03,816][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.57 Hz
+[2026-09-25 04:00:10,988][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.39 Hz
+[2026-09-25 04:00:13,819][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.64 Hz
+[2026-09-25 04:00:14,228][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003874 s, max step_time: 0.010825 s
+[2026-09-25 04:00:18,580][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.66 iterations per second over 30.00 seconds.
+[2026-09-25 04:00:20,717][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003868 s, max step_time: 0.011221 s
+[2026-09-25 04:00:20,989][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.16 Hz
+[2026-09-25 04:00:21,450][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.32 iterations per second over 30.00 seconds.
+[2026-09-25 04:00:23,822][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.82 Hz
+[2026-09-25 04:00:30,992][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.25 Hz
+[2026-09-25 04:00:33,823][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.36 Hz
+[2026-09-25 04:00:40,996][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.40 Hz
+[2026-09-25 04:00:43,824][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.27 Hz
+[2026-09-25 04:00:44,231][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 38 times, mean step_time: 0.003871 s, max step_time: 0.011452 s
+[2026-09-25 04:00:48,580][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.63 iterations per second over 30.00 seconds.
+[2026-09-25 04:00:50,720][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.003883 s, max step_time: 0.009439 s
+[2026-09-25 04:00:50,999][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.94 Hz
+[2026-09-25 04:00:51,453][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.61 iterations per second over 30.00 seconds.
+[2026-09-25 04:00:53,825][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.18 Hz
+[2026-09-25 04:01:01,001][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.42 Hz
+[2026-09-25 04:01:03,829][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.61 Hz
+[2026-09-25 04:01:11,002][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.80 Hz
+[2026-09-25 04:01:13,832][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.41 Hz
+[2026-09-25 04:01:14,234][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003863 s, max step_time: 0.010556 s
+[2026-09-25 04:01:18,582][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.31 iterations per second over 30.00 seconds.
+[2026-09-25 04:01:20,720][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003875 s, max step_time: 0.008207 s
+[2026-09-25 04:01:21,004][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.52 Hz
+[2026-09-25 04:01:21,453][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.17 iterations per second over 30.00 seconds.
+[2026-09-25 04:01:23,833][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.58 Hz
+[2026-09-25 04:01:31,005][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.88 Hz
+[2026-09-25 04:01:33,835][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.86 Hz
+[2026-09-25 04:01:41,007][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.95 Hz
+[2026-09-25 04:01:43,838][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.01 Hz
+[2026-09-25 04:01:44,237][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003874 s, max step_time: 0.009274 s
+[2026-09-25 04:01:48,586][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.67 iterations per second over 30.00 seconds.
+[2026-09-25 04:01:50,720][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003874 s, max step_time: 0.007204 s
+[2026-09-25 04:01:51,010][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
+[2026-09-25 04:01:51,453][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.97 iterations per second over 30.00 seconds.
+[2026-09-25 04:01:53,839][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.67 Hz
+[2026-09-25 04:02:01,012][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.43 Hz
+[2026-09-25 04:02:03,840][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.39 Hz
+[2026-09-25 04:02:11,014][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.43 Hz
+[2026-09-25 04:02:13,842][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.94 Hz
+[2026-09-25 04:02:18,588][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.21 iterations per second over 30.00 seconds.
+[2026-09-25 04:02:20,721][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003852 s, max step_time: 0.007303 s
+[2026-09-25 04:02:21,015][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.88 Hz
+[2026-09-25 04:02:21,456][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.54 iterations per second over 30.00 seconds.
+[2026-09-25 04:02:22,207][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003839 s, max step_time: 0.007235 s
+[2026-09-25 04:02:23,845][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.03 Hz
+[2026-09-25 04:02:31,020][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.08 Hz
+[2026-09-25 04:02:33,846][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.77 Hz
+[2026-09-25 04:02:41,023][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.56 Hz
+[2026-09-25 04:02:42,270][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:02:42,271][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:02:43,850][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.98 Hz
+[2026-09-25 04:02:48,591][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.98 iterations per second over 30.00 seconds.
+[2026-09-25 04:02:50,723][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003977 s, max step_time: 0.012830 s
+[2026-09-25 04:02:51,023][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.18 Hz
+[2026-09-25 04:02:51,456][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.59 iterations per second over 30.00 seconds.
+[2026-09-25 04:02:52,208][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003961 s, max step_time: 0.023750 s
+[2026-09-25 04:02:53,851][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.19 Hz
+[2026-09-25 04:03:01,023][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.19 Hz
+[2026-09-25 04:03:03,852][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.38 Hz
+[2026-09-25 04:03:11,025][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.25 Hz
+[2026-09-25 04:03:13,854][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.66 Hz
+[2026-09-25 04:03:18,593][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.45 iterations per second over 30.00 seconds.
+[2026-09-25 04:03:21,027][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.54 Hz
+[2026-09-25 04:03:21,457][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.96 iterations per second over 30.00 seconds.
+[2026-09-25 04:03:22,212][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003834 s, max step_time: 0.007298 s
+[2026-09-25 04:03:23,855][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.46 Hz
+[2026-09-25 04:03:24,557][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003834 s, max step_time: 0.007055 s
+[2026-09-25 04:03:31,031][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.62 Hz
+[2026-09-25 04:03:33,858][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.53 Hz
+[2026-09-25 04:03:41,033][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.93 Hz
+[2026-09-25 04:03:42,501][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:03:42,501][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:03:43,859][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.47 Hz
+[2026-09-25 04:03:48,593][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.93 iterations per second over 30.00 seconds.
+[2026-09-25 04:03:51,034][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.38 Hz
+[2026-09-25 04:03:51,459][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.09 iterations per second over 30.00 seconds.
+[2026-09-25 04:03:52,214][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.003967 s, max step_time: 0.020577 s
+[2026-09-25 04:03:53,864][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.02 Hz
+[2026-09-25 04:03:54,558][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003969 s, max step_time: 0.021137 s
+[2026-09-25 04:04:01,037][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.43 Hz
+[2026-09-25 04:04:03,863][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.07 Hz
+[2026-09-25 04:04:11,039][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.34 Hz
+[2026-09-25 04:04:13,865][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.35 Hz
+[2026-09-25 04:04:18,596][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.44 iterations per second over 30.00 seconds.
+[2026-09-25 04:04:21,041][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.35 Hz
+[2026-09-25 04:04:21,460][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.42 iterations per second over 30.00 seconds.
+[2026-09-25 04:04:22,218][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003833 s, max step_time: 0.009457 s
+[2026-09-25 04:04:23,867][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.96 Hz
+[2026-09-25 04:04:24,558][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003840 s, max step_time: 0.010696 s
+[2026-09-25 04:04:31,043][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.36 Hz
+[2026-09-25 04:04:33,869][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.44 Hz
+[2026-09-25 04:04:41,044][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.78 Hz
+[2026-09-25 04:04:43,872][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.22 Hz
+[2026-09-25 04:04:48,599][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.31 iterations per second over 30.00 seconds.
+[2026-09-25 04:04:51,045][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.17 Hz
+[2026-09-25 04:04:51,463][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.81 iterations per second over 30.00 seconds.
+[2026-09-25 04:04:52,221][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 54 times, mean step_time: 0.003867 s, max step_time: 0.010743 s
+[2026-09-25 04:04:53,875][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.03 Hz
+[2026-09-25 04:04:54,562][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 62 times, mean step_time: 0.003885 s, max step_time: 0.010815 s
+[2026-09-25 04:05:01,046][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.08 Hz
+[2026-09-25 04:05:03,877][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.57 Hz
+[2026-09-25 04:05:05,210][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.34 iterations per second over 13.75 seconds.
+[2026-09-25 04:05:05,220][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.51 iterations per second over 16.62 seconds.
+[2026-09-25 04:05:06,798][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 04:05:06,799][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 04:05:06,799][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 04:05:06,799][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 04:05:06,799][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 04:05:06,799][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 04:05:06,799][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 04:05:06,799][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 04:05:06,800][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 04:05:06,800][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 04:05:06,800][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 04:05:06,800][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 04:05:06,800][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 04:05:06,800][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 04:05:06,800][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 04:05:06,801][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:05:06,801][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:05:06,801][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:05:06,801][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 04:05:06,801][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:05:06,802][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:05:06,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:05:06,825][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 04:05:06,836][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:05:06,847][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:05:06,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:06,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:05:06,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:05:06,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:06,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:05:06,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:05:06,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:06,936][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:05:06,947][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:05:06,958][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:06,969][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:05:06,980][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:05:06,991][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:07,002][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:05:07,013][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:05:07,024][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:07,035][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:05:07,035][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 04:05:07,035][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:05:07,035][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:05:07,091][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:05:07,146][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:05:07,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:05:07,258][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:05:07,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:05:07,370][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:05:07,425][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:05:07,425][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:05:07,425][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:05:07,426][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:05:07,437][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:05:07,442][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:05:07,449][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:05:07,456][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:05:07,462][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:05:07,468][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:05:07,475][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:05:07,482][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 04:05:07,483][root][INFO] - current_pos: [0.0024795910582131597, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.0013351644159609322, 0.1825360494392303, 0.01621271076523989]
+[2026-09-25 04:05:07,483][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:05:07,483][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:05:07,583][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790280307.583456), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790280307.583456), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790280307.583456), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.012210012210012167, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=40.0, timestamp=1790280307.583456), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790280307.583456), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.1825360494392303, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790280307.583456), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790280307.583456)]
+[2026-09-25 04:05:07,583][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:05:07,583][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-25 04:05:07,583][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:05:08,263][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2684
+[2026-09-25 04:05:08,563][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:05:09,193][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 04:05:09,493][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032)
+[2026-09-25 04:05:09,493][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877]
+[2026-09-25 04:05:09,739][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:05:09,739][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:05:09,740][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:05:09,740][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:05:09,740][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:05:09,740][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:05:09,740][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:05:09,740][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:05:09,740][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:05:09,740][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:05:09,740][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:05:09,740][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:05:09,740][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 04:05:09,740][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:05:09,740][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:05:09,741][root][INFO] - initializing, ....
+[2026-09-25 04:05:09,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:05:09,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:09,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:05:09,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:05:09,795][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:09,806][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:05:09,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:05:09,829][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:09,840][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:05:09,851][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:05:09,862][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:09,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:05:09,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:05:09,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:09,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:05:09,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:05:09,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:09,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:05:09,952][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:05:09,963][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:05:09,974][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:05:09,974][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 04:05:09,974][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:05:09,975][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:05:10,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:05:10,086][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:05:10,141][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:05:10,196][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:05:10,251][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:05:10,306][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:05:10,362][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:05:10,362][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)
+[2026-09-25 04:05:10,362][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:05:10,362][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:05:10,373][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:05:10,379][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:05:10,386][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:05:10,392][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:05:10,399][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:05:10,406][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:05:10,412][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:05:10,419][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 04:05:10,419][root][INFO] - current_pos: [-0.04062714579995408, -0.0020981155107957505, 0.000953688868543523, 0.0017166399633783413, -0.023460746166170665, -0.03643091477836258, 0.032997634851605895]
+[2026-09-25 04:05:10,419][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:05:10,419][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:05:10,520][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.03418803418803407, pos=-0.04024567025254022, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790280310.5200193), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790280310.5200193), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790280310.5200193), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790280310.5200193), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.023460746166170665, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790280310.5200193), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.03643091477836258, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790280310.5200193), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.032997634851605895, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790280310.5200193)]
+[2026-09-25 04:05:10,520][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:05:10,520][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0330
+[2026-09-25 04:05:10,520][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:05:11,195][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 04:05:11,495][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:05:12,116][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 04:05:12,416][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.276760509651332, -0.01163500419623098)
+[2026-09-25 04:05:12,416][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27676051 -0.011635  ]
+[2026-09-25 04:05:12,555][root][INFO] - initializing, ....
+[2026-09-25 04:05:19,747][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.99 Hz
+[2026-09-25 04:05:22,558][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.67 Hz
+[2026-09-25 04:05:29,747][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.86 Hz
+[2026-09-25 04:05:32,561][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.71 Hz
+[2026-09-25 04:05:37,483][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 264.43 iterations per second over 30.00 seconds.
+[2026-09-25 04:05:37,483][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003781 s, max step_time: 0.066128 s
+[2026-09-25 04:05:39,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.62 Hz
+[2026-09-25 04:05:40,421][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.41 iterations per second over 30.00 seconds.
+[2026-09-25 04:05:40,421][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003825 s, max step_time: 0.066460 s
+[2026-09-25 04:05:42,562][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.18 Hz
+[2026-09-25 04:05:49,754][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.61 Hz
+[2026-09-25 04:05:52,566][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.81 Hz
+[2026-09-25 04:05:58,206][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:05:58,206][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:05:59,757][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.81 Hz
+[2026-09-25 04:06:02,569][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
+[2026-09-25 04:06:07,483][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.23 iterations per second over 30.00 seconds.
+[2026-09-25 04:06:07,484][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003903 s, max step_time: 0.020250 s
+[2026-09-25 04:06:09,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.03 Hz
+[2026-09-25 04:06:10,422][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.96 iterations per second over 30.00 seconds.
+[2026-09-25 04:06:10,422][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003907 s, max step_time: 0.020189 s
+[2026-09-25 04:06:12,569][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.68 Hz
+[2026-09-25 04:06:19,761][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.19 Hz
+[2026-09-25 04:06:22,570][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.06 Hz
+[2026-09-25 04:06:29,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.73 Hz
+[2026-09-25 04:06:32,572][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.86 Hz
+[2026-09-25 04:06:37,487][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.71 iterations per second over 30.00 seconds.
+[2026-09-25 04:06:37,487][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003880 s, max step_time: 0.009176 s
+[2026-09-25 04:06:39,765][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
+[2026-09-25 04:06:40,422][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.26 iterations per second over 30.00 seconds.
+[2026-09-25 04:06:40,422][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003918 s, max step_time: 0.007525 s
+[2026-09-25 04:06:42,303][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:06:42,303][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:06:42,573][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.99 Hz
+[2026-09-25 04:06:49,765][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.69 Hz
+[2026-09-25 04:06:52,576][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.48 Hz
+[2026-09-25 04:06:59,768][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.33 Hz
+[2026-09-25 04:07:02,577][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.41 Hz
+[2026-09-25 04:07:07,487][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.83 iterations per second over 30.00 seconds.
+[2026-09-25 04:07:07,491][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003894 s, max step_time: 0.019638 s
+[2026-09-25 04:07:09,770][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.84 Hz
+[2026-09-25 04:07:10,424][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.71 iterations per second over 30.00 seconds.
+[2026-09-25 04:07:10,425][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003865 s, max step_time: 0.017045 s
+[2026-09-25 04:07:12,581][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.60 Hz
+[2026-09-25 04:07:19,772][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.83 Hz
+[2026-09-25 04:07:22,586][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.84 Hz
+[2026-09-25 04:07:29,774][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.88 Hz
+[2026-09-25 04:07:32,587][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
+[2026-09-25 04:07:33,346][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:07:33,346][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:07:37,487][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.86 iterations per second over 30.00 seconds.
+[2026-09-25 04:07:37,492][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003908 s, max step_time: 0.017034 s
+[2026-09-25 04:07:39,777][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.59 Hz
+[2026-09-25 04:07:40,425][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.69 iterations per second over 30.00 seconds.
+[2026-09-25 04:07:40,425][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003926 s, max step_time: 0.016258 s
+[2026-09-25 04:07:42,590][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.32 Hz
+[2026-09-25 04:07:49,781][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.70 Hz
+[2026-09-25 04:07:52,590][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.50 Hz
+[2026-09-25 04:07:59,785][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.92 Hz
+[2026-09-25 04:08:02,593][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.74 Hz
+[2026-09-25 04:08:07,488][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.20 iterations per second over 30.00 seconds.
+[2026-09-25 04:08:07,493][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003829 s, max step_time: 0.007175 s
+[2026-09-25 04:08:09,788][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.40 Hz
+[2026-09-25 04:08:10,427][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.99 iterations per second over 30.00 seconds.
+[2026-09-25 04:08:12,594][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.76 Hz
+[2026-09-25 04:08:19,789][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.07 Hz
+[2026-09-25 04:08:21,443][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003847 s, max step_time: 0.007501 s
+[2026-09-25 04:08:22,594][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.59 Hz
+[2026-09-25 04:08:29,793][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.12 Hz
+[2026-09-25 04:08:32,044][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:08:32,044][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:08:32,596][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.15 Hz
+[2026-09-25 04:08:37,490][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.02 iterations per second over 30.00 seconds.
+[2026-09-25 04:08:37,494][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003921 s, max step_time: 0.021024 s
+[2026-09-25 04:08:39,794][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.17 Hz
+[2026-09-25 04:08:40,430][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.14 iterations per second over 30.00 seconds.
+[2026-09-25 04:08:42,599][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.81 Hz
+[2026-09-25 04:08:49,796][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.45 Hz
+[2026-09-25 04:08:51,447][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003939 s, max step_time: 0.018417 s
+[2026-09-25 04:08:52,602][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.83 Hz
+[2026-09-25 04:08:59,798][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.43 Hz
+[2026-09-25 04:09:02,603][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.38 Hz
+[2026-09-25 04:09:07,492][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.12 iterations per second over 30.00 seconds.
+[2026-09-25 04:09:07,496][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 64 times, mean step_time: 0.003874 s, max step_time: 0.014838 s
+[2026-09-25 04:09:09,802][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.53 Hz
+[2026-09-25 04:09:10,430][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.83 iterations per second over 30.00 seconds.
+[2026-09-25 04:09:12,603][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.20 Hz
+[2026-09-25 04:09:19,803][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.08 Hz
+[2026-09-25 04:09:21,449][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 56 times, mean step_time: 0.003867 s, max step_time: 0.013459 s
+[2026-09-25 04:09:22,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.05 Hz
+[2026-09-25 04:09:29,803][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.89 Hz
+[2026-09-25 04:09:30,840][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.67 iterations per second over 20.41 seconds.
+[2026-09-25 04:09:30,850][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.43 iterations per second over 23.36 seconds.
+[2026-09-25 04:09:50,690][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 04:09:50,691][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 04:09:50,691][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 04:09:50,691][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 04:09:50,691][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 04:09:50,691][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 04:09:50,691][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 04:09:50,691][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 04:09:50,692][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 04:09:50,692][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 04:09:50,692][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 04:09:50,692][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 04:09:50,693][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 04:09:50,693][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 04:09:50,693][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 04:09:50,693][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:09:50,693][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:09:50,693][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:09:50,693][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 04:09:50,693][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:09:50,694][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:09:50,706][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:09:50,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 04:09:50,729][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:09:50,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:09:50,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:50,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:09:50,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:09:50,785][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:50,796][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:09:50,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:09:50,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:50,829][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:09:50,840][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:09:50,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:50,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:09:50,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:09:50,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:50,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:09:50,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:09:50,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:50,928][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:09:50,928][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 04:09:50,928][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:09:50,929][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:09:50,983][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:09:51,037][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:09:51,092][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:09:51,146][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:09:51,200][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:09:51,253][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:09:51,307][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:09:51,307][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:09:51,308][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:09:51,308][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:09:51,318][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:09:51,323][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:09:51,331][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:09:51,337][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:09:51,343][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:09:51,349][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:09:51,355][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:09:51,361][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 04:09:51,361][root][INFO] - current_pos: [0.0024795910582131597, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0013351644159609322, 0.11081864652475737, 0.01583123521782248]
+[2026-09-25 04:09:51,361][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:09:51,361][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:09:51,461][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790280591.4617274), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790280591.4617274), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1790280591.4617274), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1790280591.4617274), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1790280591.4617274), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.11081864652475737, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790280591.4617274), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.01583123521782248, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790280591.4617274)]
+[2026-09-25 04:09:51,461][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:09:51,461][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-25 04:09:51,461][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:09:52,139][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691
+[2026-09-25 04:09:52,440][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:09:53,068][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 04:09:53,368][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174643032)
+[2026-09-25 04:09:53,368][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131   -0.00743877]
+[2026-09-25 04:09:53,603][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:09:53,603][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:09:53,604][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:09:53,604][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:09:53,604][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:09:53,604][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:09:53,604][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:09:53,604][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:09:53,604][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:09:53,604][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:09:53,604][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:09:53,604][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:09:53,604][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 04:09:53,604][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:09:53,604][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:09:53,605][root][INFO] - initializing, ....
+[2026-09-25 04:09:53,615][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:09:53,626][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:53,636][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:09:53,647][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:09:53,658][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:53,668][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:09:53,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:09:53,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:53,701][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:09:53,711][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:09:53,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:53,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:09:53,743][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:09:53,754][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:53,765][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:09:53,776][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:09:53,786][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:53,797][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:09:53,808][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:09:53,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:09:53,829][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:09:53,829][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 04:09:53,829][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:09:53,830][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:09:53,883][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:09:53,937][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:09:53,991][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:09:54,044][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:09:54,098][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:09:54,152][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:09:54,205][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:09:54,205][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:09:54,206][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:09:54,206][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:09:54,216][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:09:54,221][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:09:54,227][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:09:54,233][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:09:54,239][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:09:54,245][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:09:54,251][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:09:54,257][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 04:09:54,257][root][INFO] - current_pos: [-0.04024567025253667, -0.0020981155107957505, 0.0005722133211261138, 0.01163500419623098, -0.14248111696040233, 0.0001907377737087046, 0.8699549858854052]
+[2026-09-25 04:09:54,257][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:09:54,257][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:09:54,358][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.03418803418803407, pos=-0.04024567025253667, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790280594.3583322), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1790280594.3583322), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1790280594.3583322), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.01163500419623098, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1790280594.3583322), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.14248111696040233, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790280594.3583322), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790280594.3583322), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.8699549858854052, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790280594.3583322)]
+[2026-09-25 04:09:54,358][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:09:54,358][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.8700
+[2026-09-25 04:09:54,358][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:09:54,986][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554
+[2026-09-25 04:09:55,286][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:09:55,904][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 04:09:56,205][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.30651560234989, -0.011635004196227428)
+[2026-09-25 04:09:56,205][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.3065156 -0.011635 ]
+[2026-09-25 04:09:56,333][root][INFO] - initializing, ....
+[2026-09-25 04:10:03,607][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.88 Hz
+[2026-09-25 04:10:06,337][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.74 Hz
+[2026-09-25 04:10:13,611][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.34 Hz
+[2026-09-25 04:10:16,338][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.37 Hz
+[2026-09-25 04:10:21,362][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.99 iterations per second over 30.00 seconds.
+[2026-09-25 04:10:21,362][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003876 s, max step_time: 0.064594 s
+[2026-09-25 04:10:22,473][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:10:22,473][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:10:23,612][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.54 Hz
+[2026-09-25 04:10:24,259][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.82 iterations per second over 30.00 seconds.
+[2026-09-25 04:10:24,260][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003924 s, max step_time: 0.070266 s
+[2026-09-25 04:10:26,340][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.49 Hz
+[2026-09-25 04:10:33,613][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.36 Hz
+[2026-09-25 04:10:36,341][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.05 Hz
+[2026-09-25 04:10:43,612][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.50 Hz
+[2026-09-25 04:10:46,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.12 Hz
+[2026-09-25 04:10:51,363][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.69 iterations per second over 30.00 seconds.
+[2026-09-25 04:10:51,363][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003851 s, max step_time: 0.020530 s
+[2026-09-25 04:10:53,614][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.85 Hz
+[2026-09-25 04:10:54,260][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.16 iterations per second over 30.00 seconds.
+[2026-09-25 04:10:56,281][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003856 s, max step_time: 0.007332 s
+[2026-09-25 04:10:56,346][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.85 Hz
+[2026-09-25 04:11:03,615][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.08 Hz
+[2026-09-25 04:11:06,347][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.77 Hz
+[2026-09-25 04:11:12,787][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:11:12,787][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:11:13,619][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.71 Hz
+[2026-09-25 04:11:16,350][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.94 Hz
+[2026-09-25 04:11:21,367][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.44 iterations per second over 30.00 seconds.
+[2026-09-25 04:11:21,367][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003946 s, max step_time: 0.018746 s
+[2026-09-25 04:11:23,621][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
+[2026-09-25 04:11:24,260][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.67 iterations per second over 30.00 seconds.
+[2026-09-25 04:11:26,284][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003933 s, max step_time: 0.013798 s
+[2026-09-25 04:11:26,352][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.03 Hz
+[2026-09-25 04:11:33,624][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.85 Hz
+[2026-09-25 04:11:36,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.58 Hz
+[2026-09-25 04:11:43,145][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:11:43,145][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:11:43,625][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.13 Hz
+[2026-09-25 04:11:46,356][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.94 Hz
+[2026-09-25 04:11:51,367][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.86 iterations per second over 30.00 seconds.
+[2026-09-25 04:11:51,367][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003924 s, max step_time: 0.017573 s
+[2026-09-25 04:11:53,629][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.11 Hz
+[2026-09-25 04:11:54,262][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.62 iterations per second over 30.00 seconds.
+[2026-09-25 04:11:56,288][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003914 s, max step_time: 0.012298 s
+[2026-09-25 04:11:56,356][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.27 Hz
+[2026-09-25 04:12:03,629][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.79 Hz
+[2026-09-25 04:12:06,361][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.22 Hz
+[2026-09-25 04:12:13,631][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.98 Hz
+[2026-09-25 04:12:16,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.14 Hz
+[2026-09-25 04:12:21,369][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.65 iterations per second over 30.00 seconds.
+[2026-09-25 04:12:21,369][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003866 s, max step_time: 0.007051 s
+[2026-09-25 04:12:23,632][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.25 Hz
+[2026-09-25 04:12:24,262][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.06 iterations per second over 30.00 seconds.
+[2026-09-25 04:12:26,291][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003846 s, max step_time: 0.007838 s
+[2026-09-25 04:12:26,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.05 Hz
+[2026-09-25 04:12:33,636][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.62 Hz
+[2026-09-25 04:12:36,365][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.58 Hz
+[2026-09-25 04:12:43,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.02 Hz
+[2026-09-25 04:12:46,367][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.64 Hz
+[2026-09-25 04:12:46,963][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:12:46,963][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:12:51,373][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.14 iterations per second over 30.00 seconds.
+[2026-09-25 04:12:51,373][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003919 s, max step_time: 0.015323 s
+[2026-09-25 04:12:53,640][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.39 Hz
+[2026-09-25 04:12:54,264][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.42 iterations per second over 30.00 seconds.
+[2026-09-25 04:12:56,295][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003924 s, max step_time: 0.009441 s
+[2026-09-25 04:12:56,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.12 Hz
+[2026-09-25 04:13:03,642][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.46 Hz
+[2026-09-25 04:13:06,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.48 Hz
+[2026-09-25 04:13:13,642][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.47 Hz
+[2026-09-25 04:13:16,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.10 Hz
+[2026-09-25 04:13:21,376][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.53 iterations per second over 30.00 seconds.
+[2026-09-25 04:13:21,377][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003929 s, max step_time: 0.012313 s
+[2026-09-25 04:13:23,646][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.80 Hz
+[2026-09-25 04:13:24,266][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.51 iterations per second over 30.00 seconds.
+[2026-09-25 04:13:26,298][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003922 s, max step_time: 0.013025 s
+[2026-09-25 04:13:26,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.78 Hz
+[2026-09-25 04:13:33,647][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.87 Hz
+[2026-09-25 04:13:36,374][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.75 Hz
+[2026-09-25 04:13:43,649][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.26 Hz
+[2026-09-25 04:13:46,376][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.57 Hz
+[2026-09-25 04:13:51,378][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.99 iterations per second over 30.00 seconds.
+[2026-09-25 04:13:51,378][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 55 times, mean step_time: 0.003876 s, max step_time: 0.009690 s
+[2026-09-25 04:13:53,650][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.58 Hz
+[2026-09-25 04:13:54,268][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.12 iterations per second over 30.00 seconds.
+[2026-09-25 04:13:56,299][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 56 times, mean step_time: 0.003879 s, max step_time: 0.009739 s
+[2026-09-25 04:13:56,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.26 Hz
+[2026-09-25 04:14:03,651][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.78 Hz
+[2026-09-25 04:14:06,379][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.95 Hz
+[2026-09-25 04:14:13,654][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.40 Hz
+[2026-09-25 04:14:16,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.83 Hz
+[2026-09-25 04:14:21,381][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.87 iterations per second over 30.00 seconds.
+[2026-09-25 04:14:21,381][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003833 s, max step_time: 0.010065 s
+[2026-09-25 04:14:23,658][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.13 Hz
+[2026-09-25 04:14:24,271][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.98 iterations per second over 30.00 seconds.
+[2026-09-25 04:14:26,303][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003847 s, max step_time: 0.008990 s
+[2026-09-25 04:14:26,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.29 Hz
+[2026-09-25 04:14:33,658][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.88 Hz
+[2026-09-25 04:14:36,383][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.86 Hz
+[2026-09-25 04:14:43,658][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.49 Hz
+[2026-09-25 04:14:46,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.81 Hz
+[2026-09-25 04:14:51,382][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.05 iterations per second over 30.00 seconds.
+[2026-09-25 04:14:51,383][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 56 times, mean step_time: 0.003860 s, max step_time: 0.010087 s
+[2026-09-25 04:14:53,658][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.50 Hz
+[2026-09-25 04:14:54,273][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.29 iterations per second over 30.00 seconds.
+[2026-09-25 04:14:56,303][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 55 times, mean step_time: 0.003857 s, max step_time: 0.010574 s
+[2026-09-25 04:14:56,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.29 Hz
+[2026-09-25 04:15:03,660][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.85 Hz
+[2026-09-25 04:15:06,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.39 Hz
+[2026-09-25 04:15:13,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.25 Hz
+[2026-09-25 04:15:16,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.88 Hz
+[2026-09-25 04:15:19,606][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.32 iterations per second over 25.33 seconds.
+[2026-09-25 04:15:19,669][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.07 iterations per second over 28.29 seconds.
+[2026-09-25 04:15:20,895][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 04:15:20,896][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 04:15:20,896][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 04:15:20,896][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 04:15:20,896][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 04:15:20,896][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 04:15:20,897][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 04:15:20,897][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 04:15:20,897][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 04:15:20,898][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 04:15:20,898][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 04:15:20,898][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 04:15:20,898][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 04:15:20,898][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 04:15:20,898][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 04:15:20,898][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:15:20,898][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:15:20,898][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:15:20,899][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 04:15:20,899][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:15:20,900][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:15:20,912][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:15:20,923][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 04:15:20,934][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:15:20,945][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:15:20,956][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:20,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:15:20,978][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:15:20,989][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:21,000][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:15:21,011][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:15:21,022][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:21,033][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:15:21,044][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:15:21,055][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:21,067][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:15:21,078][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:15:21,089][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:21,100][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:15:21,111][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:15:21,123][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:21,134][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:15:21,134][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s))
+[2026-09-25 04:15:21,134][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:15:21,134][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:15:21,188][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:15:21,242][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:15:21,296][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:15:21,349][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:15:21,403][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:15:21,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:15:21,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:15:21,510][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:15:21,511][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:15:21,511][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:15:21,521][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:15:21,527][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:15:21,533][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:15:21,539][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:15:21,545][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:15:21,551][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:15:21,557][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:15:21,563][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 04:15:21,563][root][INFO] - current_pos: [0.0024795910582131597, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.0013351644159609322, 0.1077668421454181, 0.01583123521782248]
+[2026-09-25 04:15:21,563][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:15:21,563][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:15:21,663][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790280921.6638346), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790280921.6638346), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790280921.6638346), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=40.0, timestamp=1790280921.6638346), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1790280921.6638346), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.1077668421454181, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790280921.6638346), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790280921.6638346)]
+[2026-09-25 04:15:21,663][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:15:21,664][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-25 04:15:21,664][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:15:22,286][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695
+[2026-09-25 04:15:22,586][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:15:23,202][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 04:15:23,502][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174639479)
+[2026-09-25 04:15:23,502][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877]
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:15:23,739][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:15:23,739][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:15:23,739][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 04:15:23,739][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:15:23,739][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:15:23,740][root][INFO] - initializing, ....
+[2026-09-25 04:15:23,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:15:23,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:23,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:15:23,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:15:23,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:23,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:15:23,815][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:15:23,826][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:23,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:15:23,847][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:15:23,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:23,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:15:23,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:15:23,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:23,901][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:15:23,912][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:15:23,923][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:23,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:15:23,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:15:23,955][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:15:23,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:15:23,966][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 04:15:23,966][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:15:23,966][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:15:24,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:15:24,073][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:15:24,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:15:24,180][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:15:24,233][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:15:24,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:15:24,340][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:15:24,340][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.37 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:15:24,341][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:15:24,341][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:15:24,351][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:15:24,357][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:15:24,363][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:15:24,369][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:15:24,375][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:15:24,380][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:15:24,386][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:15:24,392][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 04:15:24,393][root][INFO] - current_pos: [-0.10013733119706991, -0.0020981155107957505, 0.000953688868543523, 0.007820248722056888, -0.12111848630502742, -0.05512321660181563, -0.0005722133211261138]
+[2026-09-25 04:15:24,393][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:15:24,393][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:15:24,493][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.10013733119706991, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790280924.4935095), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790280924.4935095), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790280924.4935095), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.007820248722056888, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1790280924.4935095), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.12111848630502742, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790280924.4935095), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.05512321660181563, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790280924.4935095), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790280924.4935095)]
+[2026-09-25 04:15:24,493][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:15:24,493][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006
+[2026-09-25 04:15:24,493][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:15:25,123][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 04:15:25,424][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:15:26,046][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 04:15:26,346][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.261120012207218, -0.01163500419623098)
+[2026-09-25 04:15:26,346][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26112001 -0.011635  ]
+[2026-09-25 04:15:26,481][root][INFO] - initializing, ....
+[2026-09-25 04:15:33,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.74 Hz
+[2026-09-25 04:15:36,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.43 Hz
+[2026-09-25 04:15:43,745][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.55 Hz
+[2026-09-25 04:15:46,488][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.24 Hz
+[2026-09-25 04:15:50,230][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:15:50,230][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:15:51,566][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.71 iterations per second over 30.00 seconds.
+[2026-09-25 04:15:51,567][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003941 s, max step_time: 0.072289 s
+[2026-09-25 04:15:53,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.08 Hz
+[2026-09-25 04:15:54,396][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.14 iterations per second over 30.00 seconds.
+[2026-09-25 04:15:54,396][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003950 s, max step_time: 0.070002 s
+[2026-09-25 04:15:56,492][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.61 Hz
+[2026-09-25 04:16:03,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.34 Hz
+[2026-09-25 04:16:06,492][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.20 Hz
+[2026-09-25 04:16:13,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.89 Hz
+[2026-09-25 04:16:16,493][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.37 Hz
+[2026-09-25 04:16:21,569][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.04 iterations per second over 30.00 seconds.
+[2026-09-25 04:16:21,570][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003846 s, max step_time: 0.007252 s
+[2026-09-25 04:16:23,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.51 Hz
+[2026-09-25 04:16:24,397][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.72 iterations per second over 30.00 seconds.
+[2026-09-25 04:16:26,495][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.04 Hz
+[2026-09-25 04:16:31,502][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003852 s, max step_time: 0.007185 s
+[2026-09-25 04:16:33,754][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.26 Hz
+[2026-09-25 04:16:36,497][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.95 Hz
+[2026-09-25 04:16:43,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.37 Hz
+[2026-09-25 04:16:46,498][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.97 Hz
+[2026-09-25 04:16:51,572][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.31 iterations per second over 30.00 seconds.
+[2026-09-25 04:16:51,573][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003902 s, max step_time: 0.010921 s
+[2026-09-25 04:16:53,757][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.26 Hz
+[2026-09-25 04:16:54,400][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.10 iterations per second over 30.00 seconds.
+[2026-09-25 04:16:56,500][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.62 Hz
+[2026-09-25 04:17:01,504][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003964 s, max step_time: 0.010360 s
+[2026-09-25 04:17:01,779][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:17:01,779][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:17:03,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.51 Hz
+[2026-09-25 04:17:06,501][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.08 Hz
+[2026-09-25 04:17:13,762][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.77 Hz
+[2026-09-25 04:17:16,506][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.30 Hz
+[2026-09-25 04:17:21,574][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.05 iterations per second over 30.00 seconds.
+[2026-09-25 04:17:21,574][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003921 s, max step_time: 0.019022 s
+[2026-09-25 04:17:23,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.34 Hz
+[2026-09-25 04:17:24,402][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.46 iterations per second over 30.00 seconds.
+[2026-09-25 04:17:26,508][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.94 Hz
+[2026-09-25 04:17:31,506][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003860 s, max step_time: 0.029392 s
+[2026-09-25 04:17:33,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.25 Hz
+[2026-09-25 04:17:36,513][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.58 Hz
+[2026-09-25 04:17:43,768][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.04 Hz
+[2026-09-25 04:17:46,515][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.84 Hz
+[2026-09-25 04:17:51,575][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.53 iterations per second over 30.00 seconds.
+[2026-09-25 04:17:53,771][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.13 Hz
+[2026-09-25 04:17:54,402][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.70 iterations per second over 30.00 seconds.
+[2026-09-25 04:17:56,518][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.93 Hz
+[2026-09-25 04:17:59,083][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003865 s, max step_time: 0.007083 s
+[2026-09-25 04:18:01,508][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003884 s, max step_time: 0.007105 s
+[2026-09-25 04:18:03,775][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.22 Hz
+[2026-09-25 04:18:06,519][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.57 Hz
+[2026-09-25 04:18:08,622][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:18:08,622][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:18:13,777][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.93 Hz
+[2026-09-25 04:18:16,521][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.36 Hz
+[2026-09-25 04:18:21,575][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.66 iterations per second over 30.00 seconds.
+[2026-09-25 04:18:23,781][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.31 Hz
+[2026-09-25 04:18:24,405][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.04 iterations per second over 30.00 seconds.
+[2026-09-25 04:18:26,523][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.04 Hz
+[2026-09-25 04:18:29,087][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003930 s, max step_time: 0.017163 s
+[2026-09-25 04:18:31,509][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003902 s, max step_time: 0.017649 s
+[2026-09-25 04:18:33,785][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.89 Hz
+[2026-09-25 04:18:36,525][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.94 Hz
+[2026-09-25 04:18:43,787][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.64 Hz
+[2026-09-25 04:18:45,501][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:18:45,501][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:18:46,529][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.92 Hz
+[2026-09-25 04:18:51,578][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.41 iterations per second over 30.00 seconds.
+[2026-09-25 04:18:53,788][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.19 Hz
+[2026-09-25 04:18:54,408][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.25 iterations per second over 30.00 seconds.
+[2026-09-25 04:18:56,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.80 Hz
+[2026-09-25 04:18:59,087][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003954 s, max step_time: 0.012396 s
+[2026-09-25 04:19:01,512][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.003969 s, max step_time: 0.017452 s
+[2026-09-25 04:19:03,789][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.07 Hz
+[2026-09-25 04:19:06,534][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.74 Hz
+[2026-09-25 04:19:13,790][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.79 Hz
+[2026-09-25 04:19:16,538][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.61 Hz
+[2026-09-25 04:19:21,580][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.55 iterations per second over 30.00 seconds.
+[2026-09-25 04:19:23,790][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
+[2026-09-25 04:19:24,408][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.76 iterations per second over 30.00 seconds.
+[2026-09-25 04:19:26,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.31 Hz
+[2026-09-25 04:19:29,095][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003883 s, max step_time: 0.010301 s
+[2026-09-25 04:19:31,515][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 67 times, mean step_time: 0.003888 s, max step_time: 0.011520 s
+[2026-09-25 04:19:33,798][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.90 Hz
+[2026-09-25 04:19:36,542][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.26 Hz
+[2026-09-25 04:19:43,799][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.09 Hz
+[2026-09-25 04:19:46,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.49 Hz
+[2026-09-25 04:19:47,727][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.48 iterations per second over 23.32 seconds.
+[2026-09-25 04:19:47,734][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.14 iterations per second over 26.15 seconds.
+[2026-09-25 04:19:48,950][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 04:19:48,952][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 04:19:48,952][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 04:19:48,952][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 04:19:48,952][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 04:19:48,952][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 04:19:48,952][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 04:19:48,952][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 04:19:48,952][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 04:19:48,953][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 04:19:48,953][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 04:19:48,953][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 04:19:48,953][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 04:19:48,953][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 04:19:48,953][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 04:19:48,953][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:19:48,954][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:19:48,954][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:19:48,954][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 04:19:48,954][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:19:48,955][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:19:48,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:19:48,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 04:19:48,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:19:48,999][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:19:49,010][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:49,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:19:49,032][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:19:49,043][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:49,055][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:19:49,066][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:19:49,077][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:49,088][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:19:49,099][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:19:49,110][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:49,121][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:19:49,132][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:19:49,143][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:49,154][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:19:49,165][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:19:49,176][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:49,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:19:49,187][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 04:19:49,187][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:19:49,187][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:19:49,243][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:19:49,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:19:49,355][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:19:49,411][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:19:49,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:19:49,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:19:49,580][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:19:49,580][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:19:49,580][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:19:49,580][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:19:49,591][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:19:49,597][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:19:49,603][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:19:49,609][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:19:49,616][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:19:49,622][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:19:49,628][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:19:49,634][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 04:19:49,634][root][INFO] - current_pos: [0.0024795910582131597, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.03452353704127553, -0.1615548943312728, -0.0017166399633783413]
+[2026-09-25 04:19:49,634][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:19:49,634][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:19:49,734][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790281189.7346725), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790281189.7346725), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790281189.7346725), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=40.0, timestamp=1790281189.7346725), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=0.03452353704127553, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1790281189.7346725), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.1615548943312728, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790281189.7346725), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790281189.7346725)]
+[2026-09-25 04:19:49,734][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:19:49,734][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0017
+[2026-09-25 04:19:49,734][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:19:50,361][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2699
+[2026-09-25 04:19:50,661][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:19:51,288][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 04:19:51,588][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269893949797819, -0.007438773174643032)
+[2026-09-25 04:19:51,588][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26989395 -0.00743877]
+[2026-09-25 04:19:51,823][root][INFO] - initializing, ....
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:19:51,824][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:19:51,824][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:19:51,825][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 04:19:51,825][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:19:51,825][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:19:51,836][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:19:51,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:51,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:19:51,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:19:51,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:51,889][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:19:51,900][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:19:51,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:51,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:19:51,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:19:51,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:51,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:19:51,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:19:51,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:51,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:19:51,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:19:52,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:52,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:19:52,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:19:52,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:19:52,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:19:52,051][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 04:19:52,051][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:19:52,051][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:19:52,105][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:19:52,158][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:19:52,212][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:19:52,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:19:52,319][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:19:52,373][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:19:52,426][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:19:52,426][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:19:52,426][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:19:52,426][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:19:52,437][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:19:52,442][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:19:52,448][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:19:52,454][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:19:52,460][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:19:52,466][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:19:52,472][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:19:52,478][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 04:19:52,478][root][INFO] - current_pos: [0.051308461127641536, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, 0.0020981155107957505, -0.04444190127412817, 0.032997634851605895]
+[2026-09-25 04:19:52,478][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:19:52,478][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:19:52,578][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.02051282051282044, pos=0.051308461127641536, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790281192.5786219), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.08888888888888857, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790281192.5786219), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1790281192.5786219), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790281192.5786219), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790281192.5786219), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.04444190127412817, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790281192.5786219), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.032997634851605895, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790281192.5786219)]
+[2026-09-25 04:19:52,578][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:19:52,578][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0330
+[2026-09-25 04:19:52,578][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:19:53,250][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 04:19:53,550][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:19:54,177][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 04:19:54,477][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.277523460746167, -0.01163500419623098)
+[2026-09-25 04:19:54,477][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27752346 -0.011635  ]
+[2026-09-25 04:19:54,615][root][INFO] - initializing, ....
+[2026-09-25 04:20:01,829][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.31 Hz
+[2026-09-25 04:20:04,621][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.23 Hz
+[2026-09-25 04:20:11,832][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.11 Hz
+[2026-09-25 04:20:14,622][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.79 Hz
+[2026-09-25 04:20:19,635][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 264.66 iterations per second over 30.00 seconds.
+[2026-09-25 04:20:19,635][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003778 s, max step_time: 0.075320 s
+[2026-09-25 04:20:21,835][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.93 Hz
+[2026-09-25 04:20:22,480][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.15 iterations per second over 30.00 seconds.
+[2026-09-25 04:20:22,480][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003829 s, max step_time: 0.072361 s
+[2026-09-25 04:20:24,625][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.42 Hz
+[2026-09-25 04:20:31,838][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.92 Hz
+[2026-09-25 04:20:34,627][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.15 Hz
+[2026-09-25 04:20:40,456][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:20:40,456][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:20:41,838][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.08 Hz
+[2026-09-25 04:20:44,631][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.02 Hz
+[2026-09-25 04:20:49,638][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.37 iterations per second over 30.00 seconds.
+[2026-09-25 04:20:49,638][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003978 s, max step_time: 0.019523 s
+[2026-09-25 04:20:51,841][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.25 Hz
+[2026-09-25 04:20:52,481][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.23 iterations per second over 30.00 seconds.
+[2026-09-25 04:20:52,481][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003965 s, max step_time: 0.022934 s
+[2026-09-25 04:20:54,631][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.08 Hz
+[2026-09-25 04:21:01,844][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.03 Hz
+[2026-09-25 04:21:04,633][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.83 Hz
+[2026-09-25 04:21:11,847][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.10 Hz
+[2026-09-25 04:21:14,635][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.97 Hz
+[2026-09-25 04:21:19,639][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.43 iterations per second over 30.00 seconds.
+[2026-09-25 04:21:19,639][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003855 s, max step_time: 0.008069 s
+[2026-09-25 04:21:21,848][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.38 Hz
+[2026-09-25 04:21:22,481][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.13 iterations per second over 30.00 seconds.
+[2026-09-25 04:21:24,638][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.02 Hz
+[2026-09-25 04:21:31,852][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.71 Hz
+[2026-09-25 04:21:34,641][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.81 Hz
+[2026-09-25 04:21:39,105][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003863 s, max step_time: 0.007213 s
+[2026-09-25 04:21:41,853][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.47 Hz
+[2026-09-25 04:21:44,645][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.12 Hz
+[2026-09-25 04:21:49,639][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.10 iterations per second over 30.00 seconds.
+[2026-09-25 04:21:49,639][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003935 s, max step_time: 0.008770 s
+[2026-09-25 04:21:51,854][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.08 Hz
+[2026-09-25 04:21:52,484][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.07 iterations per second over 30.00 seconds.
+[2026-09-25 04:21:54,648][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.19 Hz
+[2026-09-25 04:21:54,790][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:21:54,791][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:22:01,857][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.40 Hz
+[2026-09-25 04:22:04,651][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.34 Hz
+[2026-09-25 04:22:09,108][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003940 s, max step_time: 0.021845 s
+[2026-09-25 04:22:11,861][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.93 Hz
+[2026-09-25 04:22:14,652][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.90 Hz
+[2026-09-25 04:22:19,642][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.74 iterations per second over 30.00 seconds.
+[2026-09-25 04:22:19,642][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003941 s, max step_time: 0.012506 s
+[2026-09-25 04:22:21,860][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.29 Hz
+[2026-09-25 04:22:22,486][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.58 iterations per second over 30.00 seconds.
+[2026-09-25 04:22:24,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.42 Hz
+[2026-09-25 04:22:26,700][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:22:26,700][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:22:31,864][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.71 Hz
+[2026-09-25 04:22:34,656][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.96 Hz
+[2026-09-25 04:22:39,111][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003967 s, max step_time: 0.026498 s
+[2026-09-25 04:22:41,869][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.68 Hz
+[2026-09-25 04:22:44,661][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.16 Hz
+[2026-09-25 04:22:49,647][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.89 iterations per second over 30.01 seconds.
+[2026-09-25 04:22:49,647][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003939 s, max step_time: 0.021318 s
+[2026-09-25 04:22:51,871][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.44 Hz
+[2026-09-25 04:22:52,490][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.23 iterations per second over 30.00 seconds.
+[2026-09-25 04:22:54,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.49 Hz
+[2026-09-25 04:23:01,874][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.17 Hz
+[2026-09-25 04:23:02,357][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:23:02,358][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:23:04,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.57 Hz
+[2026-09-25 04:23:09,113][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003986 s, max step_time: 0.032373 s
+[2026-09-25 04:23:11,877][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.28 Hz
+[2026-09-25 04:23:14,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.29 Hz
+[2026-09-25 04:23:19,648][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.26 iterations per second over 30.00 seconds.
+[2026-09-25 04:23:19,648][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003948 s, max step_time: 0.035525 s
+[2026-09-25 04:23:21,878][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.47 Hz
+[2026-09-25 04:23:22,492][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.04 iterations per second over 30.00 seconds.
+[2026-09-25 04:23:24,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.69 Hz
+[2026-09-25 04:23:31,881][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.60 Hz
+[2026-09-25 04:23:34,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.29 Hz
+[2026-09-25 04:23:39,115][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 61 times, mean step_time: 0.003905 s, max step_time: 0.011783 s
+[2026-09-25 04:23:41,884][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.53 Hz
+[2026-09-25 04:23:44,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.16 Hz
+[2026-09-25 04:23:48,910][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.24 iterations per second over 26.42 seconds.
+[2026-09-25 04:23:48,917][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.91 iterations per second over 29.27 seconds.
+[2026-09-25 04:23:50,295][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 04:23:50,297][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 04:23:50,297][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 04:23:50,297][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 04:23:50,297][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 04:23:50,297][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 04:23:50,298][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 04:23:50,298][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 04:23:50,298][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 04:23:50,299][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 04:23:50,299][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 04:23:50,299][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 04:23:50,299][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 04:23:50,299][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 04:23:50,299][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 04:23:50,299][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:23:50,300][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:23:50,300][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:23:50,300][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 04:23:50,300][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:23:50,301][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:23:50,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:23:50,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 04:23:50,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:23:50,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:23:50,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:50,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:23:50,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:23:50,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:50,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:23:50,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:23:50,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:50,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:23:50,447][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:23:50,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:50,469][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:23:50,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:23:50,492][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:50,503][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:23:50,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:23:50,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:50,536][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:23:50,536][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s))
+[2026-09-25 04:23:50,536][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:23:50,537][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:23:50,593][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:23:50,648][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:23:50,702][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:23:50,757][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:23:50,811][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:23:50,865][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:23:50,919][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:23:50,919][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:23:50,919][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:23:50,919][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:23:50,930][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:23:50,936][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:23:50,942][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:23:50,948][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:23:50,954][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:23:50,960][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:23:50,966][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:23:50,972][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 04:23:50,972][root][INFO] - current_pos: [-0.06313420309758122, -0.000953688868543523, 0.0024795910582131597, 0.0020981155107957505, -0.0165941863126573, -0.12340733958953187, 0.01583123521782248]
+[2026-09-25 04:23:50,972][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:23:50,972][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:23:51,072][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=-0.06313420309758122, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790281431.0728517), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790281431.0728517), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1790281431.0728517), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.012210012210012167, pos=0.0020981155107957505, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790281431.0728517), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0165941863126573, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1790281431.0728517), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.12340733958953187, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790281431.0728517), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790281431.0728517)]
+[2026-09-25 04:23:51,073][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:23:51,073][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-25 04:23:51,073][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:23:51,699][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691
+[2026-09-25 04:23:52,000][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:23:52,625][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 04:23:52,926][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032)
+[2026-09-25 04:23:52,926][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877]
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:23:53,161][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:23:53,161][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:23:53,162][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 04:23:53,162][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:23:53,162][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:23:53,163][root][INFO] - initializing, ....
+[2026-09-25 04:23:53,173][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:23:53,184][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:53,195][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:23:53,206][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:23:53,217][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:53,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:23:53,238][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:23:53,249][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:53,260][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:23:53,271][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:23:53,281][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:53,292][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:23:53,303][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:23:53,314][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:53,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:23:53,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:23:53,346][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:53,357][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:23:53,367][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:23:53,378][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:23:53,389][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:23:53,389][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 04:23:53,389][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:23:53,389][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:23:53,443][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:23:53,498][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:23:53,552][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:23:53,606][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:23:53,659][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:23:53,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:23:53,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:23:53,766][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:23:53,766][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:23:53,767][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:23:53,777][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:23:53,782][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:23:53,788][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:23:53,794][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:23:53,800][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:23:53,806][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:23:53,812][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:23:53,818][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 04:23:53,818][root][INFO] - current_pos: [0.07839322499427759, -0.0020981155107957505, 0.0005722133211261138, 0.0036240177004653873, 0.024605172808422893, 0.0829709315632865, 0.08258945601586909]
+[2026-09-25 04:23:53,818][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:23:53,818][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:23:53,919][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=0.07839322499427759, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790281433.9192383), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790281433.9192383), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1790281433.9192383), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0036240177004653873, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1790281433.9192383), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.024605172808422893, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790281433.9192383), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.08258945601586909, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790281433.9192383), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.08258945601586909, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790281433.9192383)]
+[2026-09-25 04:23:53,919][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:23:53,919][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0826
+[2026-09-25 04:23:53,919][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:23:54,549][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 04:23:54,849][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:23:55,479][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 04:23:55,780][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.011635004196227428)
+[2026-09-25 04:23:55,780][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.011635 ]
+[2026-09-25 04:23:55,917][root][INFO] - initializing, ....
+[2026-09-25 04:24:03,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.75 Hz
+[2026-09-25 04:24:05,921][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.94 Hz
+[2026-09-25 04:24:13,170][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.71 Hz
+[2026-09-25 04:24:15,920][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.80 Hz
+[2026-09-25 04:24:20,975][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.98 iterations per second over 30.00 seconds.
+[2026-09-25 04:24:20,975][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003952 s, max step_time: 0.072415 s
+[2026-09-25 04:24:23,170][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.37 Hz
+[2026-09-25 04:24:23,819][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.40 iterations per second over 30.00 seconds.
+[2026-09-25 04:24:23,819][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004009 s, max step_time: 0.074809 s
+[2026-09-25 04:24:25,924][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.01 Hz
+[2026-09-25 04:24:27,041][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:24:27,041][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:24:33,171][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.89 Hz
+[2026-09-25 04:24:35,927][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.41 Hz
+[2026-09-25 04:24:43,174][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.71 Hz
+[2026-09-25 04:24:45,928][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.77 Hz
+[2026-09-25 04:24:50,976][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.12 iterations per second over 30.00 seconds.
+[2026-09-25 04:24:50,977][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003904 s, max step_time: 0.034406 s
+[2026-09-25 04:24:53,174][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
+[2026-09-25 04:24:53,819][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.96 iterations per second over 30.00 seconds.
+[2026-09-25 04:24:53,819][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003892 s, max step_time: 0.024686 s
+[2026-09-25 04:24:55,930][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.73 Hz
+[2026-09-25 04:25:03,177][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.46 Hz
+[2026-09-25 04:25:05,931][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.28 Hz
+[2026-09-25 04:25:13,176][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.29 Hz
+[2026-09-25 04:25:15,933][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.14 Hz
+[2026-09-25 04:25:20,979][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.58 iterations per second over 30.00 seconds.
+[2026-09-25 04:25:20,979][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003852 s, max step_time: 0.007884 s
+[2026-09-25 04:25:23,178][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.56 Hz
+[2026-09-25 04:25:23,822][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.81 iterations per second over 30.00 seconds.
+[2026-09-25 04:25:23,822][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003864 s, max step_time: 0.007057 s
+[2026-09-25 04:25:25,935][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.84 Hz
+[2026-09-25 04:25:33,181][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.02 Hz
+[2026-09-25 04:25:35,938][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.24 Hz
+[2026-09-25 04:25:43,183][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.05 Hz
+[2026-09-25 04:25:45,939][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.37 Hz
+[2026-09-25 04:25:50,980][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.36 iterations per second over 30.00 seconds.
+[2026-09-25 04:25:50,980][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003871 s, max step_time: 0.007717 s
+[2026-09-25 04:25:53,185][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.05 Hz
+[2026-09-25 04:25:53,826][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.67 iterations per second over 30.00 seconds.
+[2026-09-25 04:25:55,941][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.04 Hz
+[2026-09-25 04:26:03,187][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.95 Hz
+[2026-09-25 04:26:05,943][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.24 Hz
+[2026-09-25 04:26:13,189][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.95 Hz
+[2026-09-25 04:26:14,315][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003867 s, max step_time: 0.007869 s
+[2026-09-25 04:26:15,947][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.83 Hz
+[2026-09-25 04:26:20,981][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.36 iterations per second over 30.00 seconds.
+[2026-09-25 04:26:20,981][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003871 s, max step_time: 0.061170 s
+[2026-09-25 04:26:23,192][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.79 Hz
+[2026-09-25 04:26:23,829][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.33 iterations per second over 30.00 seconds.
+[2026-09-25 04:26:25,949][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.72 Hz
+[2026-09-25 04:26:33,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.98 Hz
+[2026-09-25 04:26:35,951][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.95 Hz
+[2026-09-25 04:26:43,196][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.95 Hz
+[2026-09-25 04:26:44,315][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003862 s, max step_time: 0.007085 s
+[2026-09-25 04:26:45,955][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.42 Hz
+[2026-09-25 04:26:50,983][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.82 iterations per second over 30.00 seconds.
+[2026-09-25 04:26:53,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.33 Hz
+[2026-09-25 04:26:53,831][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.32 iterations per second over 30.00 seconds.
+[2026-09-25 04:26:55,957][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.52 Hz
+[2026-09-25 04:27:03,202][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.22 Hz
+[2026-09-25 04:27:05,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.75 Hz
+[2026-09-25 04:27:13,202][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.79 Hz
+[2026-09-25 04:27:14,318][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003853 s, max step_time: 0.007468 s
+[2026-09-25 04:27:15,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.03 Hz
+[2026-09-25 04:27:18,691][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003864 s, max step_time: 0.007220 s
+[2026-09-25 04:27:20,983][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.63 iterations per second over 30.00 seconds.
+[2026-09-25 04:27:23,202][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.79 Hz
+[2026-09-25 04:27:23,831][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.96 iterations per second over 30.00 seconds.
+[2026-09-25 04:27:25,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.08 Hz
+[2026-09-25 04:27:33,207][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.81 Hz
+[2026-09-25 04:27:35,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.80 Hz
+[2026-09-25 04:27:43,207][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.85 Hz
+[2026-09-25 04:27:44,321][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003862 s, max step_time: 0.011417 s
+[2026-09-25 04:27:45,968][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.66 Hz
+[2026-09-25 04:27:48,693][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003841 s, max step_time: 0.008750 s
+[2026-09-25 04:27:50,985][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.98 iterations per second over 30.00 seconds.
+[2026-09-25 04:27:53,210][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.64 Hz
+[2026-09-25 04:27:53,835][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.04 iterations per second over 30.00 seconds.
+[2026-09-25 04:27:55,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.71 Hz
+[2026-09-25 04:28:03,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.53 Hz
+[2026-09-25 04:28:05,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.70 Hz
+[2026-09-25 04:28:13,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.70 Hz
+[2026-09-25 04:28:14,324][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003821 s, max step_time: 0.010189 s
+[2026-09-25 04:28:15,979][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.73 Hz
+[2026-09-25 04:28:18,697][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003840 s, max step_time: 0.010503 s
+[2026-09-25 04:28:20,987][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.11 iterations per second over 30.00 seconds.
+[2026-09-25 04:28:23,215][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.25 Hz
+[2026-09-25 04:28:23,835][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.80 iterations per second over 30.00 seconds.
+[2026-09-25 04:28:25,210][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 264.05 iterations per second over 1.37 seconds.
+[2026-09-25 04:28:25,213][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.44 iterations per second over 4.23 seconds.
+[2026-09-25 04:28:26,762][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 04:28:26,764][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 04:28:26,764][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 04:28:26,764][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 04:28:26,764][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 04:28:26,764][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 04:28:26,764][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 04:28:26,764][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 04:28:26,764][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 04:28:26,765][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 04:28:26,765][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 04:28:26,765][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 04:28:26,765][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 04:28:26,765][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 04:28:26,765][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 04:28:26,765][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:28:26,766][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:28:26,766][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:28:26,766][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 04:28:26,766][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:28:26,767][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:28:26,779][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:28:26,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 04:28:26,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:28:26,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:28:26,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:26,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:28:26,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:28:26,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:26,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:28:26,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:28:26,889][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:26,901][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:28:26,912][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:28:26,923][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:26,934][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:28:26,945][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:28:26,956][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:26,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:28:26,978][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:28:26,989][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:27,000][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:28:27,000][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 04:28:27,000][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:28:27,000][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:28:27,056][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:28:27,112][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:28:27,167][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:28:27,221][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:28:27,274][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:28:27,328][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:28:27,382][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:28:27,382][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:28:27,383][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:28:27,383][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:28:27,393][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:28:27,399][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:28:27,405][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:28:27,411][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:28:27,418][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:28:27,424][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:28:27,430][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:28:27,436][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 04:28:27,436][root][INFO] - current_pos: [-0.06313420309758122, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, -0.13942931258106306, -0.0024795910582131597]
+[2026-09-25 04:28:27,436][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:28:27,436][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:28:27,537][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=-0.06313420309758122, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790281707.537018), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790281707.537018), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790281707.537018), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=41.0, timestamp=1790281707.537018), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1790281707.537018), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.13942931258106306, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790281707.537018), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790281707.537018)]
+[2026-09-25 04:28:27,537][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:28:27,537][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0025
+[2026-09-25 04:28:27,537][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:28:28,163][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695
+[2026-09-25 04:28:28,463][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:28:29,092][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 04:28:29,392][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174639479)
+[2026-09-25 04:28:29,392][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877]
+[2026-09-25 04:28:29,628][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:28:29,629][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:28:29,629][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:28:29,629][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:28:29,629][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:28:29,629][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:28:29,629][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:28:29,629][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:28:29,629][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:28:29,629][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:28:29,629][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:28:29,629][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:28:29,629][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 04:28:29,629][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:28:29,630][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:28:29,632][root][INFO] - initializing, ....
+[2026-09-25 04:28:29,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:28:29,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:29,662][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:28:29,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:28:29,684][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:29,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:28:29,706][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:28:29,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:29,729][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:28:29,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:28:29,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:29,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:28:29,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:28:29,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:29,796][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:28:29,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:28:29,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:29,829][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:28:29,840][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:28:29,850][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:28:29,861][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:28:29,861][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 04:28:29,861][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:28:29,862][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:28:29,916][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:28:29,970][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:28:30,024][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:28:30,078][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:28:30,131][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:28:30,185][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:28:30,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:28:30,239][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:28:30,239][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:28:30,239][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:28:30,250][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:28:30,255][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:28:30,261][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:28:30,267][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:28:30,273][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:28:30,279][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:28:30,286][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:28:30,292][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=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 04:28:30,292][root][INFO] - current_pos: [-0.09822995345998287, -0.0013351644159609322, 0.000953688868543523, 0.004386968795300206, -0.06809338521400754, -0.04406042572671076, 0.0665674830243379]
+[2026-09-25 04:28:30,292][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:28:30,292][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:28:30,393][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=-0.09822995345998287, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790281710.3932476), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.08888888888888857, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790281710.3932476), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1790281710.3932476), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0040054932478827965, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790281710.3932476), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06809338521400754, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790281710.3932476), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.04444190127412462, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790281710.3932476), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0665674830243379, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790281710.3932476)]
+[2026-09-25 04:28:30,393][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:28:30,393][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0666
+[2026-09-25 04:28:30,393][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:28:31,067][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 04:28:31,367][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:28:32,042][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 04:28:32,342][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.275997558556497, -0.01163500419623098)
+[2026-09-25 04:28:32,342][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27599756 -0.011635  ]
+[2026-09-25 04:28:32,471][root][INFO] - initializing, ....
+[2026-09-25 04:28:39,633][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.35 Hz
+[2026-09-25 04:28:42,473][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.67 Hz
+[2026-09-25 04:28:49,636][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.30 Hz
+[2026-09-25 04:28:52,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.75 Hz
+[2026-09-25 04:28:57,439][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.44 iterations per second over 30.00 seconds.
+[2026-09-25 04:28:57,440][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003795 s, max step_time: 0.064467 s
+[2026-09-25 04:28:59,638][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.15 Hz
+[2026-09-25 04:29:00,295][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.58 iterations per second over 30.00 seconds.
+[2026-09-25 04:29:00,295][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003837 s, max step_time: 0.066436 s
+[2026-09-25 04:29:02,478][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.22 Hz
+[2026-09-25 04:29:09,641][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.84 Hz
+[2026-09-25 04:29:12,481][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.13 Hz
+[2026-09-25 04:29:19,642][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.28 Hz
+[2026-09-25 04:29:22,484][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.01 Hz
+[2026-09-25 04:29:27,442][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.24 iterations per second over 30.00 seconds.
+[2026-09-25 04:29:27,442][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003933 s, max step_time: 0.009705 s
+[2026-09-25 04:29:29,642][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.78 Hz
+[2026-09-25 04:29:30,298][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.54 iterations per second over 30.00 seconds.
+[2026-09-25 04:29:30,298][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003960 s, max step_time: 0.009270 s
+[2026-09-25 04:29:32,487][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.64 Hz
+[2026-09-25 04:29:39,479][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:29:39,480][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:29:39,643][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.39 Hz
+[2026-09-25 04:29:42,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.22 Hz
+[2026-09-25 04:29:49,643][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.19 Hz
+[2026-09-25 04:29:52,493][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.43 Hz
+[2026-09-25 04:29:57,446][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.30 iterations per second over 30.00 seconds.
+[2026-09-25 04:29:57,446][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003932 s, max step_time: 0.041291 s
+[2026-09-25 04:29:59,645][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.05 Hz
+[2026-09-25 04:30:00,300][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.42 iterations per second over 30.00 seconds.
+[2026-09-25 04:30:00,300][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003931 s, max step_time: 0.028957 s
+[2026-09-25 04:30:02,494][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.17 Hz
+[2026-09-25 04:30:09,648][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.33 Hz
+[2026-09-25 04:30:12,496][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.45 Hz
+[2026-09-25 04:30:19,651][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.95 Hz
+[2026-09-25 04:30:22,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.90 Hz
+[2026-09-25 04:30:27,446][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.00 iterations per second over 30.00 seconds.
+[2026-09-25 04:30:27,447][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003861 s, max step_time: 0.008452 s
+[2026-09-25 04:30:29,650][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.20 Hz
+[2026-09-25 04:30:30,303][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.44 iterations per second over 30.00 seconds.
+[2026-09-25 04:30:30,303][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003854 s, max step_time: 0.007069 s
+[2026-09-25 04:30:32,502][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.15 Hz
+[2026-09-25 04:30:39,652][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.26 Hz
+[2026-09-25 04:30:42,503][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.15 Hz
+[2026-09-25 04:30:43,921][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:30:43,922][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:30:49,652][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.69 Hz
+[2026-09-25 04:30:52,505][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.50 Hz
+[2026-09-25 04:30:57,449][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.84 iterations per second over 30.00 seconds.
+[2026-09-25 04:30:57,449][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003971 s, max step_time: 0.018162 s
+[2026-09-25 04:30:59,654][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.35 Hz
+[2026-09-25 04:31:00,305][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.75 iterations per second over 30.00 seconds.
+[2026-09-25 04:31:00,305][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003988 s, max step_time: 0.022974 s
+[2026-09-25 04:31:02,504][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.69 Hz
+[2026-09-25 04:31:09,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.86 Hz
+[2026-09-25 04:31:12,505][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.48 Hz
+[2026-09-25 04:31:19,658][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.72 Hz
+[2026-09-25 04:31:22,508][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.30 Hz
+[2026-09-25 04:31:27,456][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.44 iterations per second over 30.01 seconds.
+[2026-09-25 04:31:27,456][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003869 s, max step_time: 0.007299 s
+[2026-09-25 04:31:29,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.60 Hz
+[2026-09-25 04:31:30,308][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.08 iterations per second over 30.00 seconds.
+[2026-09-25 04:31:32,128][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003859 s, max step_time: 0.007248 s
+[2026-09-25 04:31:32,509][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.09 Hz
+[2026-09-25 04:31:39,662][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.89 Hz
+[2026-09-25 04:31:42,511][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.04 Hz
+[2026-09-25 04:31:49,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.81 Hz
+[2026-09-25 04:31:52,516][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.08 Hz
+[2026-09-25 04:31:57,457][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.69 iterations per second over 30.00 seconds.
+[2026-09-25 04:31:57,458][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003881 s, max step_time: 0.013489 s
+[2026-09-25 04:31:59,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.57 Hz
+[2026-09-25 04:32:00,312][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.83 iterations per second over 30.00 seconds.
+[2026-09-25 04:32:02,130][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 37 times, mean step_time: 0.003886 s, max step_time: 0.013009 s
+[2026-09-25 04:32:02,518][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.14 Hz
+[2026-09-25 04:32:09,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.73 Hz
+[2026-09-25 04:32:12,519][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 272.08 Hz
+[2026-09-25 04:32:15,748][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 271.17 iterations per second over 15.44 seconds.
+[2026-09-25 04:32:15,755][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 267.84 iterations per second over 18.30 seconds.
+[2026-09-25 04:32:28,505][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 04:32:28,506][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 04:32:28,506][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 04:32:28,506][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 04:32:28,506][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 04:32:28,506][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 04:32:28,506][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 04:32:28,506][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 04:32:28,507][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 04:32:28,508][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 04:32:28,508][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 04:32:28,508][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 04:32:28,508][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 04:32:28,508][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 04:32:28,508][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 04:32:28,508][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:32:28,508][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:32:28,508][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:32:28,508][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 04:32:28,508][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
+[2026-09-25 04:32:28,509][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:32:28,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:32:28,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 04:32:28,543][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:32:28,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:32:28,565][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:28,576][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:32:28,587][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:32:28,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:28,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:32:28,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:32:28,631][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:28,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:32:28,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:32:28,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:28,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:32:28,686][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:32:28,697][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:28,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:32:28,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:32:28,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:28,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:32:28,741][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 04:32:28,741][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
+[2026-09-25 04:32:28,741][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:32:28,796][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:32:28,851][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:32:28,906][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:32:28,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:32:29,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:32:29,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:32:29,130][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:32:29,131][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:32:29,131][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:32:29,131][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:32:29,142][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:32:29,148][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:32:29,155][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:32:29,161][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:32:29,167][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:32:29,174][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:32:29,181][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:32:29,187][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 04:32:29,187][root][INFO] - current_pos: [-0.02117189288166621, -0.000953688868543523, 0.0024795910582131597, 0.008964675364309116, -0.07381551842526868, 0.17605096513313434, -0.0024795910582131597]
+[2026-09-25 04:32:29,187][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:32:29,187][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:32:29,288][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=-0.020790417334245248, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790281949.2882082), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790281949.2882082), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790281949.2882082), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.008964675364309116, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1790281949.2882082), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=-0.07381551842526868, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1790281949.2882082), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.17605096513313434, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790281949.2882082), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790281949.2882082)]
+[2026-09-25 04:32:29,288][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:32:29,288][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0025
+[2026-09-25 04:32:29,288][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:32:29,915][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691
+[2026-09-25 04:32:30,215][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:32:30,846][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 04:32:31,146][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174639479)
+[2026-09-25 04:32:31,147][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131   -0.00743877]
+[2026-09-25 04:32:31,388][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:32:31,388][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:32:31,388][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:32:31,388][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:32:31,388][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:32:31,388][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:32:31,388][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:32:31,388][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:32:31,388][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:32:31,388][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:32:31,389][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:32:31,389][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:32:31,389][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 04:32:31,389][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:32:31,389][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:32:31,389][root][INFO] - initializing, ....
+[2026-09-25 04:32:31,400][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:32:31,411][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:31,422][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:32:31,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:32:31,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:31,455][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:32:31,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:32:31,477][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:31,488][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:32:31,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:32:31,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:31,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:32:31,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:32:31,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:31,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:32:31,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:32:31,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:31,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:32:31,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:32:31,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:32:31,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:32:31,620][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 04:32:31,620][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:32:31,620][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:32:31,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:32:31,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:32:31,782][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:32:31,836][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:32:31,889][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:32:31,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:32:31,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:32:31,997][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:32:31,997][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:32:31,997][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:32:32,008][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:32:32,013][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:32:32,019][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:32:32,025][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:32:32,031][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:32:32,037][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:32:32,043][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:32:32,049][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 04:32:32,049][root][INFO] - current_pos: [-0.019645990691996573, 0.0005722133211261138, 0.000953688868543523, 0.000953688868543523, -0.023079270618753256, -0.018883039597161755, 0.032997634851605895]
+[2026-09-25 04:32:32,049][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:32:32,049][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:32:32,149][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.019645990691996573, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790281952.1497777), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790281952.1497777), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1790281952.1497777), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1790281952.1497777), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.023079270618753256, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790281952.1497777), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.01926451514457561, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790281952.1497777), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.032997634851605895, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790281952.1497777)]
+[2026-09-25 04:32:32,149][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:32:32,150][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0330
+[2026-09-25 04:32:32,150][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:32:32,824][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 04:32:33,124][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:32:33,748][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 04:32:34,048][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2771419851987496, -0.01163500419623098)
+[2026-09-25 04:32:34,048][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27714199 -0.011635  ]
+[2026-09-25 04:32:34,189][root][INFO] - initializing, ....
+[2026-09-25 04:32:41,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.48 Hz
+[2026-09-25 04:32:44,195][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.61 Hz
+[2026-09-25 04:32:51,393][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.26 Hz
+[2026-09-25 04:32:54,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.03 Hz
+[2026-09-25 04:32:59,190][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.51 iterations per second over 30.00 seconds.
+[2026-09-25 04:32:59,190][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003823 s, max step_time: 0.074769 s
+[2026-09-25 04:33:01,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.25 Hz
+[2026-09-25 04:33:02,050][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.09 iterations per second over 30.00 seconds.
+[2026-09-25 04:33:02,050][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003859 s, max step_time: 0.075196 s
+[2026-09-25 04:33:04,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.80 Hz
+[2026-09-25 04:33:11,399][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.23 Hz
+[2026-09-25 04:33:14,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.19 Hz
+[2026-09-25 04:33:21,400][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.06 Hz
+[2026-09-25 04:33:22,186][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:33:22,187][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:33:24,199][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.87 Hz
+[2026-09-25 04:33:29,193][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.41 iterations per second over 30.00 seconds.
+[2026-09-25 04:33:29,193][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003915 s, max step_time: 0.013080 s
+[2026-09-25 04:33:31,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.33 Hz
+[2026-09-25 04:33:32,050][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.80 iterations per second over 30.00 seconds.
+[2026-09-25 04:33:32,050][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003909 s, max step_time: 0.014227 s
+[2026-09-25 04:33:34,200][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.48 Hz
+[2026-09-25 04:33:41,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.93 Hz
+[2026-09-25 04:33:44,203][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.74 Hz
+[2026-09-25 04:33:51,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.11 Hz
+[2026-09-25 04:33:54,205][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.82 Hz
+[2026-09-25 04:33:59,195][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.15 iterations per second over 30.00 seconds.
+[2026-09-25 04:34:01,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.26 Hz
+[2026-09-25 04:34:02,052][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.99 iterations per second over 30.00 seconds.
+[2026-09-25 04:34:02,052][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003876 s, max step_time: 0.007099 s
+[2026-09-25 04:34:04,207][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.28 Hz
+[2026-09-25 04:34:11,413][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.61 Hz
+[2026-09-25 04:34:14,209][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.44 Hz
+[2026-09-25 04:34:16,747][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003863 s, max step_time: 0.007174 s
+[2026-09-25 04:34:21,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.98 Hz
+[2026-09-25 04:34:24,209][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.08 Hz
+[2026-09-25 04:34:27,253][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:34:27,253][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:34:29,196][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.82 iterations per second over 30.00 seconds.
+[2026-09-25 04:34:31,416][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.86 Hz
+[2026-09-25 04:34:32,053][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.96 iterations per second over 30.00 seconds.
+[2026-09-25 04:34:32,053][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003938 s, max step_time: 0.020474 s
+[2026-09-25 04:34:34,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.73 Hz
+[2026-09-25 04:34:41,419][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.49 Hz
+[2026-09-25 04:34:44,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.45 Hz
+[2026-09-25 04:34:46,750][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003896 s, max step_time: 0.015933 s
+[2026-09-25 04:34:51,426][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.19 Hz
+[2026-09-25 04:34:54,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.70 Hz
+[2026-09-25 04:34:59,200][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.07 iterations per second over 30.00 seconds.
+[2026-09-25 04:35:01,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.22 Hz
+[2026-09-25 04:35:02,055][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.68 iterations per second over 30.00 seconds.
+[2026-09-25 04:35:04,215][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.38 Hz
+[2026-09-25 04:35:11,428][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.38 Hz
+[2026-09-25 04:35:14,216][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.35 Hz
+[2026-09-25 04:35:17,163][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003849 s, max step_time: 0.008252 s
+[2026-09-25 04:35:21,430][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.04 Hz
+[2026-09-25 04:35:24,220][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.44 Hz
+[2026-09-25 04:35:28,439][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003876 s, max step_time: 0.008142 s
+[2026-09-25 04:35:29,203][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.67 iterations per second over 30.00 seconds.
+[2026-09-25 04:35:30,764][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:35:30,764][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:35:31,434][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.53 Hz
+[2026-09-25 04:35:32,058][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.34 iterations per second over 30.00 seconds.
+[2026-09-25 04:35:34,222][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.31 Hz
+[2026-09-25 04:35:41,433][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.29 Hz
+[2026-09-25 04:35:44,226][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.02 Hz
+[2026-09-25 04:35:47,167][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003928 s, max step_time: 0.012934 s
+[2026-09-25 04:35:51,435][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.67 Hz
+[2026-09-25 04:35:54,229][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.42 Hz
+[2026-09-25 04:35:58,442][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003902 s, max step_time: 0.017541 s
+[2026-09-25 04:35:59,203][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.83 iterations per second over 30.00 seconds.
+[2026-09-25 04:36:01,437][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.03 Hz
+[2026-09-25 04:36:02,061][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.87 iterations per second over 30.00 seconds.
+[2026-09-25 04:36:04,232][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.74 Hz
+[2026-09-25 04:36:11,438][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.17 Hz
+[2026-09-25 04:36:14,232][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.07 Hz
+[2026-09-25 04:36:17,170][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.003868 s, max step_time: 0.012120 s
+[2026-09-25 04:36:21,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.21 Hz
+[2026-09-25 04:36:24,232][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.80 Hz
+[2026-09-25 04:36:28,445][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.003857 s, max step_time: 0.011338 s
+[2026-09-25 04:36:29,204][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.96 iterations per second over 30.00 seconds.
+[2026-09-25 04:36:31,443][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.78 Hz
+[2026-09-25 04:36:32,061][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.30 iterations per second over 30.00 seconds.
+[2026-09-25 04:36:34,235][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.61 Hz
+[2026-09-25 04:36:41,444][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.24 Hz
+[2026-09-25 04:36:44,238][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.34 Hz
+[2026-09-25 04:36:47,171][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 62 times, mean step_time: 0.003884 s, max step_time: 0.010950 s
+[2026-09-25 04:36:51,447][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.93 Hz
+[2026-09-25 04:36:53,522][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.43 iterations per second over 21.46 seconds.
+[2026-09-25 04:36:53,531][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.25 iterations per second over 24.33 seconds.
+[2026-09-25 04:36:54,782][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 04:36:54,783][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 04:36:54,783][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 04:36:54,784][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 04:36:54,784][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 04:36:54,784][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 04:36:54,784][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 04:36:54,784][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 04:36:54,784][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 04:36:54,785][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 04:36:54,785][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 04:36:54,785][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 04:36:54,785][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 04:36:54,785][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 04:36:54,785][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 04:36:54,785][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 04:36:54,785][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:36:54,785][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:36:54,786][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:36:54,786][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:36:54,786][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:36:54,786][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:36:54,786][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:36:54,786][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:36:54,786][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:36:54,786][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:36:54,786][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:36:54,786][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:36:54,786][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 04:36:54,786][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:36:54,787][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:36:54,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:36:54,810][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 04:36:54,821][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:36:54,832][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:36:54,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:54,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:36:54,865][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:36:54,876][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:54,888][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:36:54,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:36:54,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:54,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:36:54,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:36:54,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:54,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:36:54,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:36:54,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:54,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:36:54,999][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:36:55,010][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:55,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:36:55,021][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s))
+[2026-09-25 04:36:55,021][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:36:55,022][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:36:55,077][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:36:55,133][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:36:55,189][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:36:55,244][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:36:55,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:36:55,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:36:55,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:36:55,410][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 04:36:55,411][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:36:55,411][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:36:55,422][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:36:55,428][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:36:55,435][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:36:55,441][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:36:55,447][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:36:55,453][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:36:55,460][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:36:55,467][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 04:36:55,467][root][INFO] - current_pos: [-0.010490577553978753, -0.000953688868543523, 0.0024795910582131597, 0.007820248722056888, -0.047493705653467444, 0.17185473411154284, -0.0013351644159609322]
+[2026-09-25 04:36:55,467][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:36:55,468][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:36:55,568][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.01087205310139261, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790282215.5683892), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790282215.5683892), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790282215.5683892), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.007820248722056888, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1790282215.5683892), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.017094017094017033, pos=-0.047493705653467444, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1790282215.5683892), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.17223620965896025, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790282215.5683892), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0366300366300365, eff=-0.012210012210012167, pos=-0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790282215.5683892)]
+[2026-09-25 04:36:55,568][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:36:55,568][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013
+[2026-09-25 04:36:55,568][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:36:56,197][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2699
+[2026-09-25 04:36:56,497][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:36:57,126][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 04:36:57,426][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269893949797819, -0.007438773174643032)
+[2026-09-25 04:36:57,426][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26989395 -0.00743877]
+[2026-09-25 04:36:57,669][root][INFO] - initializing, ....
+[2026-09-25 04:36:57,670][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 04:36:57,671][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 04:36:57,671][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 04:36:57,671][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 04:36:57,671][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 04:36:57,671][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 04:36:57,671][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 04:36:57,671][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 04:36:57,671][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 04:36:57,671][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 04:36:57,671][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 04:36:57,671][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 04:36:57,671][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 04:36:57,671][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:36:57,671][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:36:57,682][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 04:36:57,693][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:57,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:36:57,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 04:36:57,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:57,739][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:36:57,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 04:36:57,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:57,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 04:36:57,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 04:36:57,796][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:57,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:36:57,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 04:36:57,829][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:57,840][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:36:57,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 04:36:57,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:57,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:36:57,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 04:36:57,897][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 04:36:57,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 04:36:57,908][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.24 s (7 motor(s))
+[2026-09-25 04:36:57,908][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 04:36:57,908][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:36:57,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:36:58,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:36:58,075][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 04:36:58,131][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:36:58,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:36:58,243][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:36:58,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 04:36:58,299][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)
+[2026-09-25 04:36:58,300][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 04:36:58,300][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 04:36:58,311][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 04:36:58,316][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 04:36:58,323][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 04:36:58,331][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 04:36:58,337][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 04:36:58,344][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 04:36:58,351][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 04:36:58,358][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 04:36:58,358][root][INFO] - current_pos: [-0.004768444342717615, -0.0013351644159609322, 0.000953688868543523, 0.004386968795300206, -0.06885633630884236, -0.010490577553978753, 0.07801174944686018]
+[2026-09-25 04:36:58,358][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 04:36:58,358][root][INFO] - starting separate thread for control loop
+[2026-09-25 04:36:58,459][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=-0.004768444342717615, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790282218.4589403), 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=29.0, timestamp=1790282218.4589403), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1790282218.4589403), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.004386968795300206, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790282218.4589403), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.06885633630884236, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1790282218.4589403), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.010490577553978753, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790282218.4589403), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.07801174944686018, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790282218.4589403)]
+[2026-09-25 04:36:58,459][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 04:36:58,459][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0780
+[2026-09-25 04:36:58,459][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 04:36:59,089][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 04:36:59,419][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 04:37:00,046][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0116
+[2026-09-25 04:37:00,347][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.011635004196227428)
+[2026-09-25 04:37:00,347][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.011635 ]
+[2026-09-25 04:37:00,483][root][INFO] - initializing, ....
+[2026-09-25 04:37:07,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.76 Hz
+[2026-09-25 04:37:10,483][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.60 Hz
+[2026-09-25 04:37:17,680][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.11 Hz
+[2026-09-25 04:37:20,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.06 Hz
+[2026-09-25 04:37:25,470][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.58 iterations per second over 30.00 seconds.
+[2026-09-25 04:37:25,470][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003912 s, max step_time: 0.077968 s
+[2026-09-25 04:37:27,682][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.39 Hz
+[2026-09-25 04:37:27,831][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:37:27,831][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:37:28,360][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.52 iterations per second over 30.00 seconds.
+[2026-09-25 04:37:28,360][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003975 s, max step_time: 0.075954 s
+[2026-09-25 04:37:30,486][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.17 Hz
+[2026-09-25 04:37:37,682][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.80 Hz
+[2026-09-25 04:37:40,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.92 Hz
+[2026-09-25 04:37:47,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.56 Hz
+[2026-09-25 04:37:50,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.28 Hz
+[2026-09-25 04:37:55,470][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.10 iterations per second over 30.00 seconds.
+[2026-09-25 04:37:55,474][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003845 s, max step_time: 0.021750 s
+[2026-09-25 04:37:57,688][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.67 Hz
+[2026-09-25 04:37:58,361][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.73 iterations per second over 30.00 seconds.
+[2026-09-25 04:38:00,492][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.64 Hz
+[2026-09-25 04:38:02,897][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003841 s, max step_time: 0.007804 s
+[2026-09-25 04:38:07,694][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.51 Hz
+[2026-09-25 04:38:10,494][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.66 Hz
+[2026-09-25 04:38:17,186][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:38:17,186][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 04:38:17,692][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.00 Hz
+[2026-09-25 04:38:20,496][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.92 Hz
+[2026-09-25 04:38:20,751][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.58 iterations per second over 22.39 seconds.
+[2026-09-25 04:38:20,760][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.09 iterations per second over 25.29 seconds.
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/runtime/output.lock b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/pick_and_place_pomegranate/metadata/runtime/output.lock
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/action/executed_action_dict.pkl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/action/executed_action_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4b5bae3f8e0a2ab650a67b8d75f6bee965e78ac9
Binary files /dev/null and b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/action/executed_action_dict.pkl differ
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/camera/metadata.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/camera/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5986ff619fd9b5d069255314f17e3adf554bcf5
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/camera/metadata.json
@@ -0,0 +1,59 @@
+{
+  "base_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 546,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::base_0",
+    "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
+    "video": "camera/base_0_rgb.mp4",
+    "width": 640
+  },
+  "left_wrist_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 546,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::left_wrist_0",
+    "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
+    "video": "camera/left_wrist_0_rgb.mp4",
+    "width": 640
+  },
+  "right_wrist_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 546,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::right_wrist_0",
+    "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
+    "video": "camera/right_wrist_0_rgb.mp4",
+    "width": 640
+  }
+}
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/camera/timestamp.pkl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/camera/timestamp.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4023ec1784ae80109da303480e8c6fa82cdfab97
Binary files /dev/null and b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/camera/timestamp.pkl differ
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/debug/actions.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/debug/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..44d14a4e1f5a7a6e4c662a1e6238eb90c385c25f
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/debug/actions.jsonl
@@ -0,0 +1,529 @@
+{"chunk": 0, "index": 0, "time_ns": 1790264213812918920, "target": [-0.020781122148036957, 0.008753289468586445, 0.0054588280618190765, 0.01259266771376133, -0.009038861840963364, -0.04684627428650856, 0.09558030217885971, 0.008294953033328056, -0.009016941301524639, -0.0015050715301185846, 0.023656601086258888, -0.021835632622241974, -0.08473486453294754, 0.09526753425598145], "feedback": [-0.02536812424659729, 0.005912871100008488, 0.012779430486261845, 0.004005493130534887, 0.0013351644156500697, -0.05207141116261482, 0.09592366218566895, 0.004386968910694122, 0.00476844422519207, 0.00476844422519207, 0.015449759550392628, -0.007438773289322853, -0.08144503086805344, 0.0958748385310173], "execution_mode": "async_overlap", "queue_remaining": 29, "plan_time_error_ms": 0.07839499448891729}
+{"chunk": 0, "index": 1, "time_ns": 1790264213844588583, "target": [-0.02080305479466915, 0.008806622587144375, 0.0054727778770029545, 0.012587649747729301, -0.009120593778789043, -0.04689456522464752, 0.09558061510324478, 0.008974310010671616, -0.011346057057380676, -0.004677577409893274, 0.024960553273558617, -0.02191951498389244, -0.08548349887132645, 0.09545547515153885], "feedback": [-0.025749599561095238, 0.005912871100008488, 0.012779430486261845, 0.005149920005351305, 0.0009536888683214784, -0.05207141116261482, 0.09582649916410446, 0.004386968910694122, 0.004386968910694122, 0.00476844422519207, 0.016212711110711098, -0.0078202486038208, -0.08144503086805344, 0.09554802626371384], "execution_mode": "async_overlap", "queue_remaining": 28, "plan_time_error_ms": 0.2066826564259827}
+{"chunk": 0, "index": 2, "time_ns": 1790264213880465296, "target": [-0.020855974406003952, 0.00868728756904602, 0.005377560388296843, 0.012562579475343227, -0.00909050926566124, -0.04690476134419441, 0.09544052928686142, 0.008367548696696758, -0.01104567851871252, -0.0043555148877203465, 0.024059101939201355, -0.02110813371837139, -0.08350733667612076, 0.09539523720741272], "feedback": [-0.025749599561095238, 0.005912871100008488, 0.013160906732082367, 0.005149920005351305, 0.000572213320992887, -0.05207141116261482, 0.09579180181026459, 0.00476844422519207, 0.004386968910694122, 0.00476844422519207, 0.016594186425209045, -0.0078202486038208, -0.08144503086805344, 0.09552716463804245], "execution_mode": "async_overlap", "queue_remaining": 27, "plan_time_error_ms": 1.2350203323876485}
+{"chunk": 0, "index": 3, "time_ns": 1790264213913108800, "target": [-0.02085588499903679, 0.008803993463516235, 0.005477080587297678, 0.012642167508602142, -0.009188424795866013, -0.046793654561042786, 0.09557999670505524, 0.008689133450388908, -0.012860641814768314, -0.00586962653324008, 0.02326018735766411, -0.021991876885294914, -0.08513742685317993, 0.09545369446277618], "feedback": [-0.025749599561095238, 0.005912871100008488, 0.013160906732082367, 0.005149920005351305, 0.000572213320992887, -0.05207141116261482, 0.09563912451267242, 0.004386968910694122, 0.004386968910694122, 0.00476844422519207, 0.016594186425209045, -0.008201723918318748, -0.08144503086805344, 0.09550630301237106], "execution_mode": "async_overlap", "queue_remaining": 26, "plan_time_error_ms": 1.3764509931206703}
+{"chunk": 0, "index": 4, "time_ns": 1790264213949174425, "target": [-0.020897163078188896, 0.008841561153531075, 0.005441758316010237, 0.012763749808073044, -0.009209267795085907, -0.04676525667309761, 0.09557969868183136, 0.0072180358693003654, -0.010558685287833214, -0.006237296387553215, 0.02155229076743126, -0.02063775807619095, -0.0848628357052803, 0.09562339633703232], "feedback": [-0.02536812424659729, 0.005912871100008488, 0.012779430486261845, 0.005149920005351305, 0.000572213320992887, -0.05207141116261482, 0.0955142080783844, 0.004386968910694122, 0.004386968910694122, 0.00476844422519207, 0.016594186425209045, -0.0078202486038208, -0.08144503086805344, 0.09550630301237106], "execution_mode": "async_overlap", "queue_remaining": 25, "plan_time_error_ms": 1.5794616629136726}
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c79bb444cd2f334640076ae0ea5b4709714cbd0
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/camera.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/camera.json
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index 0000000000000000000000000000000000000000..26e43b09a7861ad8ca6fc1eaf019f6b9846f43db
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d8be8073a87110af7970326c5e3c99d1d63152a
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/event.json
@@ -0,0 +1,28 @@
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/robot.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac4a58e1867d1648b218e1746bf5a1d3fe15569c
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/tactile.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/tactile.json
new file mode 100644
index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/manifests/tactile.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/workflow_manifest.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0002/workflow_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..720a8cfb088b28108ccf96ca3eeb3c50b8008b6d
--- /dev/null
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..99a70a04127f135215ed522304a29921c8109715
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/action.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/action.json
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index 0000000000000000000000000000000000000000..98471289995551afbfc65411da51e2fd22dafcc2
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/camera.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/camera.json
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index 0000000000000000000000000000000000000000..faef4091fdafb4114cb538c31d96a187e13fd3a4
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/camera.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/event.json
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index 0000000000000000000000000000000000000000..8b26a02008a3c63f39bb74a7ad6b82e16e546f6f
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/event.json
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+{
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/robot.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9a9c86ca16c8b43d22594f9cc9f2a7e18648742
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/tactile.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/manifests/tactile.json
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index 0000000000000000000000000000000000000000..2107afb9f2e736424d49b950818594c31a9036d7
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0003/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/action.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/action.json
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/action.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/camera.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/camera.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d9528a7729a72dcf4d2f52991f452770e1b929d
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/event.json
@@ -0,0 +1,27 @@
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/robot.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..121152ff983e6fc72b17d788fda3bef4f0cc0f78
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/tactile.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/manifests/tactile.json
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index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/workflow_manifest.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0004/workflow_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8408f9c99cb9a0bad7793a57af88efcff8a4918
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4e17d6b8ffe1162d3ece97013a747ddf61a2dafb
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/debug/async_events.jsonl
@@ -0,0 +1,73 @@
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/manifests/event.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/manifests/tactile.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/manifests/tactile.json
new file mode 100644
index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/manifests/tactile.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/workflow_manifest.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/workflow_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b171f11e804041e545048ec6bf68f753a689b7f
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0005/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/action/executed_action_dict.pkl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/action/executed_action_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8d54833af0f8568431e86e278c22324dac77bccd
Binary files /dev/null and b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/action/executed_action_dict.pkl differ
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/camera/metadata.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/camera/metadata.json
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index 0000000000000000000000000000000000000000..e47762d9341160d7a203af0a8167b575c3103ef4
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/camera/timestamp.pkl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/camera/timestamp.pkl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/debug/actions.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..699813da9643b235c7065aa3ea53ac57c94c1423
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/debug/async_events.jsonl
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new file mode 100644
index 0000000000000000000000000000000000000000..15cc4bc47b1c3cd3e595e8d65581d78d56ac9a7c
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/action.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/action.json
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index 0000000000000000000000000000000000000000..fbc1bdbb3667287663b2b29eb3fda94c951453f3
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/action.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/camera.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/camera.json
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index 0000000000000000000000000000000000000000..cebd8981c6b307b25fa9ab09398ecc5894a3df69
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/camera.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/event.json
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index 0000000000000000000000000000000000000000..151b5532fba6d8bb842ac4b2fcd78ae1bd1c1585
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/event.json
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+{
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/robot.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..b10c3f6b200078f0e194a9620fc25897b8e27b72
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/tactile.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/manifests/tactile.json
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index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
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new file mode 100644
index 0000000000000000000000000000000000000000..3122d232b69f24eca4dcb974bb8f22c9a51f0247
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0006/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..36764c92293be9897f13a039ab39dc1b9129a03c
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/debug/async_events.jsonl
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new file mode 100644
index 0000000000000000000000000000000000000000..73e440bbaf1b021af3e31d2735cfbac762b1b1e6
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/action.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/action.json
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index 0000000000000000000000000000000000000000..da4f088a4588f2d8ce89410fa17d020afa983027
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/action.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/camera.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/camera.json
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index 0000000000000000000000000000000000000000..87d5fb5f68bc5575c14211ffdbc6ca6118a3d812
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/camera.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/event.json
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index 0000000000000000000000000000000000000000..2cf058df47b74969da72a4c720a87c510892de4e
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/event.json
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+{
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/robot.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ef3b007c804e7e033affe74163e7865bc50ab2
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/tactile.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/manifests/tactile.json
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index 0000000000000000000000000000000000000000..c4fc697e0bf4e12d89db9b0717cd9976a22cff43
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0007/workflow_manifest.json
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Binary files /dev/null and b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/action/executed_action_dict.pkl differ
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/camera/metadata.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/debug/actions.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/debug/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f29c68253fc3552ce297e6c3ca5911ee5491d292
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/camera.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8b9e4460aea1ac70887eb2274e970f4959d6061
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/camera.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5256461ba9c1fae05701c81a66c04469a8c73b4
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/event.json
@@ -0,0 +1,27 @@
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/robot.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e5d193dcdef57378306293b42a66558f5eda4d0
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/tactile.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/manifests/tactile.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/workflow_manifest.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0012/workflow_manifest.json
new file mode 100644
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/manifests/event.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/manifests/robot.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..481f4ac5a61cdcaaa1f26fad424f758c48c9c092
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/manifests/robot.json
@@ -0,0 +1,37 @@
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/manifests/tactile.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/manifests/tactile.json
new file mode 100644
index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/manifests/tactile.json
@@ -0,0 +1 @@
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/workflow_manifest.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/workflow_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dbef02deac60ab929b64945911dd5b4d6afdfc7
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0014/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/camera/metadata.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/camera/metadata.json
new file mode 100644
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/camera/timestamp.pkl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/camera/timestamp.pkl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/debug/actions.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0a0fef2b37cba4af94baef4e2ea08805686f1c7
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/debug/async_events.jsonl
@@ -0,0 +1,63 @@
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0015/manifests/event.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/action/executed_action_dict.pkl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/action/executed_action_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ad7cdb8db12158dc21effd831a923a15489b851a
Binary files /dev/null and b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/action/executed_action_dict.pkl differ
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/camera/metadata.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/camera/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e24145e6e797d339986aef44ab6ab95002ce47a1
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/debug/actions.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4beb772807132fcb95b9bd5afc479f2f57e56105
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0019/manifests/event.json
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index 0000000000000000000000000000000000000000..44da3c9bdde83a901f83a9ab061b5095f435954c
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/camera/metadata.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/camera/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb05a43ec64ad422152908a8e17d72797922ac73
--- /dev/null
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+    "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/camera/timestamp.pkl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/camera/timestamp.pkl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/debug/actions.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/manifests/camera.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/manifests/camera.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbf4114d2ecc3bb57a4e91956a2d83c17905f6f6
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/manifests/event.json
@@ -0,0 +1,27 @@
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/manifests/robot.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..e89c29aed0653506e351e77d2b0c6da5d47db584
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/manifests/tactile.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/manifests/tactile.json
new file mode 100644
index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/workflow_manifest.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/workflow_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1c0b6141b470e68bdecc08195a6b5de940ce0cd
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+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0022/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0023/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0023/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55812b574b7a617b2c103f336f48d63a61bf0085
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0023/debug/async_events.jsonl
@@ -0,0 +1,53 @@
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0023/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0023/manifests/event.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/camera/metadata.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/debug/actions.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/debug/async_events.jsonl b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b10d04f7df474d9376efc07355902f9c1e1ef61
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/debug/async_events.jsonl
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index 0000000000000000000000000000000000000000..21eb0e0e339935569cefff70b4992676520aa2d5
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/manifests/camera.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/manifests/camera.json
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index 0000000000000000000000000000000000000000..3b74c91924ddbb731ba00a5cfd3361b615ffc7de
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/manifests/event.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..d96c5292cb24aaab5e75d7596f37cf920cc50cf9
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/manifests/robot.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/manifests/tactile.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/manifests/tactile.json
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diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/workflow_manifest.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/data/round_0025/workflow_manifest.json
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+            9.670842275619506,
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+    "ros": {
+      "localhost_only": true
+    },
+    "run": {
+      "action_steps": 30,
+      "id": "20260925_002815_892286_round_0025",
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0025",
+      "runtime_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/metadata/runtime",
+      "steps": 40,
+      "wait_ready_timeout_s": 30.0
+    }
+  },
+  "episode_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0025",
+  "next_round_confirmed": true,
+  "observation_not_before_ns": 1790267311437106812,
+  "operator_command_file": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/metadata/runtime/operator_command",
+  "operator_drag_verified": true,
+  "operator_result": "success",
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+  "policy_control_limits": {
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+    "command_velocity_limits": [
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+    "dragging": false,
+    "fault": null,
+    "holding": false,
+    "policy_finished": false,
+    "position_guard_failure": null,
+    "position_limit_source": "sdk",
+    "position_limits": [
+      [
+        -2.7679899999999997,
+        3.29159
+      ],
+      [
+        -0.15,
+        3.81519
+      ],
+      [
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+      ],
+      [
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+      [
+        -0.15,
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+      ],
+      [
+        -0.15,
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+      ],
+      [
+        -1.84297,
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+      ],
+      [
+        -1.7207999999999999,
+        1.7207999999999999
+      ],
+      [
+        -2.2443999999999997,
+        2.2443999999999997
+      ],
+      [
+        0.0,
+        0.096
+      ]
+    ],
+    "stationary_velocity_limits": [
+      0.09619047798216343,
+      0.09619047798216343,
+      0.09125763334333897,
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+      0.2885714414715767,
+      0.014345181323587895
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+    "stop_file": "/tmp/prometheus_openpi/STOP",
+    "tracking_error_limits": [
+      0.40147251009941104,
+      0.618776296377182,
+      0.5956588095426559,
+      0.4531014055013657,
+      1.0002136100828647,
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+    "velocity_limits": [
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+      9.670842275619506,
+      10.588351378440857,
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+      17.380879168510436,
+      20.799341225624083,
+      7.747032866477967,
+      1.3316887146234513
+    ]
+  },
+  "position_limit_source": "sdk",
+  "position_limits": [
+    [
+      -2.7679899999999997,
+      3.29159
+    ],
+    [
+      -0.15,
+      3.81519
+    ],
+    [
+      -0.15,
+      3.29159
+    ],
+    [
+      -1.84297,
+      1.7207999999999999
+    ],
+    [
+      -1.7207999999999999,
+      1.7207999999999999
+    ],
+    [
+      -2.2443999999999997,
+      2.2443999999999997
+    ],
+    [
+      0.0,
+      0.096
+    ],
+    [
+      -2.7679899999999997,
+      3.29159
+    ],
+    [
+      -0.15,
+      3.81519
+    ],
+    [
+      -0.15,
+      3.29159
+    ],
+    [
+      -1.84297,
+      1.7207999999999999
+    ],
+    [
+      -1.7207999999999999,
+      1.7207999999999999
+    ],
+    [
+      -2.2443999999999997,
+      2.2443999999999997
+    ],
+    [
+      0.0,
+      0.096
+    ]
+  ],
+  "recording": {
+    "episode_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0025",
+    "failure": "",
+    "paused": false,
+    "queue_size": 0,
+    "queues": {
+      "action": 0,
+      "camera:base_0": 0,
+      "camera:left_wrist_0": 0,
+      "camera:right_wrist_0": 0,
+      "event": 0,
+      "robot": 0
+    },
+    "record_counts": {
+      "action.executed": 452,
+      "camera.base_0_rgb": 469,
+      "camera.left_wrist_0_rgb": 470,
+      "camera.right_wrist_0_rgb": 469,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3736,
+      "robot.robot_state": 1875
+    },
+    "recording": false,
+    "recording_enabled": true
+  },
+  "reviewed_at_ns": 1790267327073225714,
+  "round_number": 25,
+  "shutdown_confirmed": true,
+  "stationary_velocity_limits": [
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+    0.09619047798216343,
+    0.09125763334333897,
+    0.09619047798216343,
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+    0.10112332262098789,
+    0.11098901189863682,
+    0.14058608725667,
+    0.2885714414715767,
+    0.014345181323587895
+  ],
+  "status": "completed",
+  "task_success": true,
+  "termination_reason": "operator_review",
+  "tracking_error_limits": [
+    0.40147251009941104,
+    0.618776296377182,
+    0.5956588095426559,
+    0.4531014055013657,
+    1.0002136100828647,
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+    2.1306553721427917,
+    0.9146791793219745,
+    0.14422834947705268
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+  "velocity_limits": [
+    6.503956017494202,
+    7.554651925563812,
+    9.670842275619506,
+    10.588351378440857,
+    8.72373610496521,
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+    17.380879168510436,
+    20.799341225624083,
+    7.747032866477967,
+    1.3316887146234513
+  ]
+}
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/.hydra/config.yaml b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dc99920992aa7bca7c54a84946ff5bf6679e9f62
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/.hydra/config.yaml
@@ -0,0 +1,239 @@
+ros:
+  localhost_only: true
+run:
+  id: ${now:%Y%m%d_%H%M%S_%f}
+  output_dir: outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi
+  steps: 40
+  wait_ready_timeout_s: 30.0
+  runtime_dir: ${run.output_dir}/metadata/runtime
+  action_steps: 30
+policy:
+  host: 127.0.0.1
+  port: 8000
+  prompt: Use the right arm to pick up the steamed bun and place it in the air fryer
+    basket.
+  action_hz: 30.0
+  slop_ms: 20.0
+  observation_wait_timeout_s: 1.0
+  max_observation_age_s: 0.5
+  connect_timeout_s: 10.0
+  response_timeout_s: 120.0
+data:
+  history: 64
+  bridge:
+    enabled: true
+    name: openpi_observe_${run.id}
+    wait_all_streams: true
+    qos_depth: 10
+    stamp_source: header
+    sensor_qos: reliable
+  streams:
+    robot_state:
+      topic: /prometheus/robots/yam/state
+      msg_type: sensor_msgs.msg.JointState
+      domain: robot
+      ros_domain_id: 21
+    base_0_color:
+      topic: /prometheus/sensors/cameras/base_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+    left_wrist_0_color:
+      topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+    right_wrist_0_color:
+      topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+  name: openpi_data
+  mode: owned
+  numpy:
+    enabled: true
+  recording:
+    enabled: true
+    output_dir: ${run.output_dir}/data
+    queue_size: 4096
+    fps: 30.0
+    camera_encoder: libx264
+    default_event_value: null
+    enable_plots: false
+robot:
+  _target_: prometheus.nodes.robots.yam.resolve_robot
+  id: yam
+  control_domain_id: 21
+  sensor_domain_id: 22
+  collection_input_source: pedal,tty
+  collection_pedal:
+    devices:
+    - /dev/input/prometheus-pedal
+    - /dev/input/prometheus-pedal-aux
+    exclusive: true
+    confirm_presses: 2
+    confirm_window_s: 1.0
+    debounce_s: 0.05
+    pedal_map:
+      30: 0
+      48: 1
+      46: 2
+      32: 3
+      2: 0
+      3: 1
+      4: 2
+      5: 3
+  robot:
+    state_publish_hz: 120
+    control_hz: 120
+    action_space: abs_qpos
+    leader_arm: yam
+    follower_arm: yam_ultra
+    leader_gripper: yam_teaching_handle
+    follower_gripper: linear_4310
+    gripper_width_m: 0.096
+    alignment_duration_s: 3.0
+    bilateral_kp: 0.0
+    teleoperation_enabled: false
+    require_enable_button: false
+    enable_auto_recovery: false
+    sim: false
+    home_return:
+      enabled: false
+      max_velocity: 0.3
+      min_duration_s: 3.0
+      timeout_s: 25.0
+      kp_scale: 1.0
+      position_tolerance: 0.05
+      velocity_tolerance: 0.1
+      settle_s: 0.3
+      tracking_error_limit: 0.35
+      feedback_timeout_s: 0.5
+    leader_can: null
+    follower_can:
+      left: can_follower_l
+      right: can_follower_r
+    collection_mode: policy
+    policy_control:
+      urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf
+      stop_file: /tmp/prometheus_openpi/STOP
+      hz: 30.0
+      feedback_timeout_s: 0.2
+      command_timeout_s: 0.25
+      velocity_limits:
+      - 6.503956017494202
+      - 7.554651925563812
+      - 9.670842275619506
+      - 10.588351378440857
+      - 8.72373610496521
+      - 13.252087483406067
+      - 1.2993822544813156
+      - 8.664541969299316
+      - 10.73633671760559
+      - 14.77633719921112
+      - 17.380879168510436
+      - 20.799341225624083
+      - 7.747032866477967
+      - 1.3316887146234513
+      stationary_velocity_limits:
+      - 0.09619047798216343
+      - 0.09619047798216343
+      - 0.09125763334333897
+      - 0.09619047798216343
+      - 0.11098901189863682
+      - 0.18498168900609016
+      - 0.014679903751239181
+      - 0.10112332262098789
+      - 0.11098901189863682
+      - 0.10112332262098789
+      - 0.11098901189863682
+      - 0.14058608725667
+      - 0.2885714414715767
+      - 0.014345181323587895
+      command_velocity_limits:
+      - 7.326937734087213
+      - 7.492612143357643
+      - 9.039960411055707
+      - 10.989442599937178
+      - 11.822247140410347
+      - 21.729793477053846
+      - 4.549583926449072
+      - 9.542591565847905
+      - 16.49783855493206
+      - 19.18122166486826
+      - 20.271305218109156
+      - 13.274309575261345
+      - 14.009155302643812
+      - 4.764187300355128
+      acceleration_limits:
+      - 118.7426430016755
+      - 165.012131490699
+      - 134.04180689399348
+      - 274.86399842805685
+      - 195.25766555964873
+      - 454.5340796113012
+      - 109.40927818565227
+      - 178.49339036295515
+      - 476.6444930964641
+      - 557.9080874526715
+      - 587.1810202100611
+      - 362.1711802492357
+      - 208.8803265352197
+      - 208.9010343469399
+      tracking_error_limits:
+      - 0.40147251009941104
+      - 0.618776296377182
+      - 0.5956588095426559
+      - 0.4531014055013657
+      - 1.0002136100828647
+      - 1.5542610847949982
+      - 0.13904411427676677
+      - 0.53632409773767
+      - 0.711245882511139
+      - 0.9085143971443176
+      - 0.6218586921691894
+      - 2.1306553721427917
+      - 0.9146791793219745
+      - 0.14422834947705268
+  cameras:
+    capture_hz: 30
+    capture_width: 640
+    capture_height: 480
+    publish_hz: 30
+    collect_ir: false
+    ir: false
+    prepub_resize: 1.0
+    camera_info: false
+    serial_no:
+      base_0: '260322272085'
+      left_wrist_0: '260422275825'
+      right_wrist_0: '260322279382'
+    qos: reliable
+execute: true
+async_inference:
+  enabled: true
+  prefetch_steps: 12
+  blend_steps: 5
+execution:
+  hold_settle_s: 0.2
+  hold_settle_timeout_s: 5.0
+  max_prediction_age_s: 0.5
+  max_schedule_lateness_s: 0.105
+  command_ack_timeout_s: 0.1
+hardware:
+  name: openpi_hardware
+  mode: owned
+  sensors: auto
+  streams: auto
+preview:
+  enabled: true
+  mode: local
+  ui_mode: openpi
+  window: Pi0.5 - Async execution
+  width: 1280
+  height: 720
+  fps: 20.0
+  stale_timeout_s: 1.0
+  host: 127.0.0.1
+  port: 7860
+  refresh_ms: 100
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7dac6ab256dbe473a3817485b6171e967097f87f
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/.hydra/hydra.yaml
@@ -0,0 +1,164 @@
+hydra:
+  run:
+    dir: ${run.output_dir}/metadata/hydra
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - execute=true
+    - policy.host=127.0.0.1
+    - policy.port=8000
+    - run.steps=40
+    - run.action_steps=30
+    - policy.prompt="Use the right arm to pick up the steamed bun and place it in
+      the air fryer basket."
+    - run.output_dir=outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi
+  job:
+    name: openpi_rollout
+    chdir: false
+    override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use
+      the right arm to pick up the steamed bun and place it in the air fryer basket.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi,run.steps=40
+    id: ???
+    num: ???
+    config_name: openpi_pi0_v4_from_v3_20eps_19999
+    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_v4_from_v3_20eps_19999/put_baozi/metadata/hydra
+    choices:
+      robot: yam_policy
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..705a4f9b52ecf44689a3bb6ce00d724b1978e345
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/.hydra/overrides.yaml
@@ -0,0 +1,8 @@
+- execute=true
+- policy.host=127.0.0.1
+- policy.port=8000
+- run.steps=40
+- run.action_steps=30
+- policy.prompt="Use the right arm to pick up the steamed bun and place it in the
+  air fryer basket."
+- run.output_dir=outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/openpi_rollout.log
new file mode 100644
index 0000000000000000000000000000000000000000..c50c5a1b4f8fe6e7e0914e9e36fb0301cf08f4bb
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/hydra/openpi_rollout.log
@@ -0,0 +1,2639 @@
+[2026-09-24 23:33:43,287][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-24 23:33:43,288][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-24 23:33:43,288][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-24 23:33:43,289][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-24 23:33:43,289][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-24 23:33:43,289][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-24 23:33:43,289][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-24 23:33:43,289][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-24 23:33:43,289][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-24 23:33:43,290][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-24 23:33:43,290][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-24 23:33:43,290][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-24 23:33:43,290][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-24 23:33:43,290][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-24 23:33:43,290][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-24 23:33:43,290][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-24 23:33:43,290][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-24 23:33:43,290][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-24 23:33:43,291][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-24 23:33:43,291][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-24 23:33:43,291][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-24 23:33:43,291][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-24 23:33:43,291][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-24 23:33:43,291][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-24 23:33:43,291][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-24 23:33:43,291][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-24 23:33:43,291][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-24 23:33:43,291][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-24 23:33:43,291][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-24 23:33:43,291][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:33:43,292][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:33:43,303][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-24 23:33:43,314][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-24 23:33:43,325][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:33:43,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-24 23:33:43,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:43,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:33:43,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-24 23:33:43,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:43,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:33:43,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-24 23:33:43,414][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:43,425][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:33:43,436][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-24 23:33:43,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:43,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:33:43,468][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-24 23:33:43,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:43,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:33:43,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-24 23:33:43,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:43,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:33:43,521][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-24 23:33:43,521][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:33:43,522][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:33:43,576][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:33:43,629][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:33:43,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:33:43,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:33:43,791][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:33:43,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:33:43,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:33:43,899][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-24 23:33:43,899][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:33:43,899][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-24 23:33:43,910][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-24 23:33:43,915][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-24 23:33:43,921][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-24 23:33:43,927][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-24 23:33:43,933][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-24 23:33:43,939][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-24 23:33:43,945][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-24 23:33:43,951][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-24 23:33:43,952][root][INFO] - current_pos: [-0.02574959945067512, -0.000953688868543523, 0.003242542153047978, 0.000953688868543523, 0.000953688868543523, -0.0455863279163804, 0.01583123521782248]
+[2026-09-24 23:33:43,952][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-24 23:33:43,952][root][INFO] - starting separate thread for control loop
+[2026-09-24 23:33:44,052][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=-0.02574959945067512, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790264024.0525186), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790264024.0525186), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=0.003242542153047978, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790264024.0525186), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790264024.0525186), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790264024.0525186), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0455863279163804, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264024.0525186), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264024.0525186)]
+[2026-09-24 23:33:44,052][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-24 23:33:44,052][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-24 23:33:44,052][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-24 23:33:44,733][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2699
+[2026-09-24 23:33:45,033][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-24 23:33:45,651][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-24 23:33:45,951][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269893949797819, -0.007438773174643032)
+[2026-09-24 23:33:45,951][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26989395 -0.00743877]
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-24 23:33:46,186][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-24 23:33:46,186][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-24 23:33:46,186][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-24 23:33:46,186][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:33:46,187][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:33:46,188][root][INFO] - initializing, ....
+[2026-09-24 23:33:46,198][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-24 23:33:46,209][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:46,219][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:33:46,230][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-24 23:33:46,241][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:46,252][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:33:46,262][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-24 23:33:46,273][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:46,284][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:33:46,295][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-24 23:33:46,305][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:46,316][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:33:46,327][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-24 23:33:46,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:46,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:33:46,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-24 23:33:46,370][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:46,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:33:46,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-24 23:33:46,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:33:46,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:33:46,413][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-24 23:33:46,413][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:33:46,413][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:33:46,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:33:46,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:33:46,575][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:33:46,629][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:33:46,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:33:46,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:33:46,791][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:33:46,791][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-24 23:33:46,791][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:33:46,791][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-24 23:33:46,802][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-24 23:33:46,807][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-24 23:33:46,813][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-24 23:33:46,820][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-24 23:33:46,826][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-24 23:33:46,832][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-24 23:33:46,837][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-24 23:33:46,844][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-24 23:33:46,844][root][INFO] - current_pos: [0.005531395437552433, -0.0020981155107957505, 0.0005722133211261138, 0.000953688868543523, -0.022697795071335847, -0.006675822079804661, -0.0005722133211261138]
+[2026-09-24 23:33:46,844][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-24 23:33:46,844][root][INFO] - starting separate thread for control loop
+[2026-09-24 23:33:46,945][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.03418803418803407, pos=0.005531395437552433, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790264026.9452686), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264026.9452686), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790264026.9452686), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790264026.9452686), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.022697795071335847, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790264026.9452686), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.007057297627218517, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790264026.9452686), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790264026.9452686)]
+[2026-09-24 23:33:46,945][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-24 23:33:46,945][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006
+[2026-09-24 23:33:46,945][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-24 23:33:47,574][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-24 23:33:47,874][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-24 23:33:48,505][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-24 23:33:48,806][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.01277943083848676)
+[2026-09-24 23:33:48,807][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01277943]
+[2026-09-24 23:33:48,935][root][INFO] - initializing, ....
+[2026-09-24 23:33:56,189][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.43 Hz
+[2026-09-24 23:33:58,940][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.96 Hz
+[2026-09-24 23:34:06,190][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.88 Hz
+[2026-09-24 23:34:08,943][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.53 Hz
+[2026-09-24 23:34:13,954][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.68 iterations per second over 30.00 seconds.
+[2026-09-24 23:34:13,954][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003806 s, max step_time: 0.071911 s
+[2026-09-24 23:34:16,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.50 Hz
+[2026-09-24 23:34:16,849][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.86 iterations per second over 30.00 seconds.
+[2026-09-24 23:34:16,849][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003848 s, max step_time: 0.070290 s
+[2026-09-24 23:34:18,946][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.64 Hz
+[2026-09-24 23:34:26,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.32 Hz
+[2026-09-24 23:34:28,947][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.77 Hz
+[2026-09-24 23:34:36,199][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.04 Hz
+[2026-09-24 23:34:38,949][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.27 Hz
+[2026-09-24 23:34:43,954][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.03 iterations per second over 30.00 seconds.
+[2026-09-24 23:34:43,955][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003846 s, max step_time: 0.007202 s
+[2026-09-24 23:34:46,199][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.60 Hz
+[2026-09-24 23:34:46,852][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.94 iterations per second over 30.00 seconds.
+[2026-09-24 23:34:46,853][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003862 s, max step_time: 0.007502 s
+[2026-09-24 23:34:48,947][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.40 Hz
+[2026-09-24 23:34:56,200][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.07 Hz
+[2026-09-24 23:34:58,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.23 Hz
+[2026-09-24 23:35:06,204][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.20 Hz
+[2026-09-24 23:35:08,954][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.71 Hz
+[2026-09-24 23:35:13,958][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.60 iterations per second over 30.00 seconds.
+[2026-09-24 23:35:13,958][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003837 s, max step_time: 0.007277 s
+[2026-09-24 23:35:16,207][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.11 Hz
+[2026-09-24 23:35:16,854][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.08 iterations per second over 30.00 seconds.
+[2026-09-24 23:35:18,956][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.75 Hz
+[2026-09-24 23:35:26,207][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.69 Hz
+[2026-09-24 23:35:26,409][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003843 s, max step_time: 0.008022 s
+[2026-09-24 23:35:28,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.53 Hz
+[2026-09-24 23:35:36,210][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.54 Hz
+[2026-09-24 23:35:38,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.16 Hz
+[2026-09-24 23:35:43,959][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.16 iterations per second over 30.00 seconds.
+[2026-09-24 23:35:43,959][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003844 s, max step_time: 0.007497 s
+[2026-09-24 23:35:46,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.97 Hz
+[2026-09-24 23:35:46,855][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.16 iterations per second over 30.00 seconds.
+[2026-09-24 23:35:48,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.19 Hz
+[2026-09-24 23:35:56,216][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.20 Hz
+[2026-09-24 23:35:56,411][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003866 s, max step_time: 0.007649 s
+[2026-09-24 23:35:58,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.09 Hz
+[2026-09-24 23:36:02,314][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-24 23:36:02,314][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-24 23:36:06,217][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.65 Hz
+[2026-09-24 23:36:08,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.04 Hz
+[2026-09-24 23:36:12,983][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.50 iterations per second over 26.13 seconds.
+[2026-09-24 23:36:12,988][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.12 iterations per second over 29.03 seconds.
+[2026-09-24 23:36:40,420][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-24 23:36:40,421][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-24 23:36:40,422][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-24 23:36:40,422][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-24 23:36:40,422][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-24 23:36:40,422][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-24 23:36:40,422][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-24 23:36:40,422][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-24 23:36:40,422][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-24 23:36:40,423][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-24 23:36:40,423][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-24 23:36:40,423][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-24 23:36:40,423][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-24 23:36:40,423][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-24 23:36:40,423][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-24 23:36:40,423][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-24 23:36:40,424][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-24 23:36:40,424][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-24 23:36:40,424][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-24 23:36:40,424][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:36:40,425][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:36:40,436][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-24 23:36:40,447][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-24 23:36:40,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:36:40,469][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-24 23:36:40,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:40,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:36:40,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-24 23:36:40,513][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:40,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:36:40,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-24 23:36:40,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:40,556][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:36:40,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-24 23:36:40,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:40,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:36:40,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-24 23:36:40,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:40,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:36:40,631][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-24 23:36:40,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:40,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:36:40,653][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-24 23:36:40,653][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:36:40,653][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:36:40,706][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:36:40,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:36:40,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:36:40,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:36:40,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:36:40,974][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:36:41,028][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:36:41,028][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-24 23:36:41,028][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:36:41,028][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-24 23:36:41,039][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-24 23:36:41,044][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-24 23:36:41,050][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-24 23:36:41,056][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-24 23:36:41,062][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-24 23:36:41,068][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-24 23:36:41,074][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-24 23:36:41,080][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-24 23:36:41,080][root][INFO] - current_pos: [-0.02574959945067512, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, -0.052071412222476354, -0.002861066605630569]
+[2026-09-24 23:36:41,080][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-24 23:36:41,080][root][INFO] - starting separate thread for control loop
+[2026-09-24 23:36:41,181][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.02536812390325416, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790264201.1811092), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790264201.1811092), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1790264201.1811092), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=31.0, timestamp=1790264201.1811092), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790264201.1811092), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.052071412222476354, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264201.1811092), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.002861066605630569, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264201.1811092)]
+[2026-09-24 23:36:41,181][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-24 23:36:41,181][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029
+[2026-09-24 23:36:41,181][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-24 23:36:41,864][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695
+[2026-09-24 23:36:42,164][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-24 23:36:42,793][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-24 23:36:43,093][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174639479)
+[2026-09-24 23:36:43,093][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877]
+[2026-09-24 23:36:43,324][root][INFO] - initializing, ....
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-24 23:36:43,325][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-24 23:36:43,325][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-24 23:36:43,325][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-24 23:36:43,325][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:36:43,326][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:36:43,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-24 23:36:43,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:43,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:36:43,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-24 23:36:43,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:43,407][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:36:43,418][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-24 23:36:43,429][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:43,440][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:36:43,450][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-24 23:36:43,461][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:43,472][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:36:43,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-24 23:36:43,493][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:43,504][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:36:43,515][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-24 23:36:43,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:43,536][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:36:43,547][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-24 23:36:43,558][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:36:43,569][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:36:43,569][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.24 s (7 motor(s))
+[2026-09-24 23:36:43,569][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:36:43,569][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:36:43,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:36:43,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:36:43,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:36:43,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:36:43,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:36:43,890][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:36:43,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:36:43,944][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-24 23:36:43,944][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:36:43,944][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-24 23:36:43,955][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-24 23:36:43,960][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-24 23:36:43,966][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-24 23:36:43,972][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-24 23:36:43,978][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-24 23:36:43,984][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-24 23:36:43,990][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-24 23:36:43,996][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-24 23:36:43,996][root][INFO] - current_pos: [0.004386968795300206, -0.0001907377737087046, 0.000953688868543523, 0.000953688868543523, -0.0040054932478827965, -0.078774700541695, 0.032997634851605895]
+[2026-09-24 23:36:43,996][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-24 23:36:43,996][root][INFO] - starting separate thread for control loop
+[2026-09-24 23:36:44,097][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=0.02051282051282044, pos=0.004386968795300206, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790264204.0970829), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264204.0970829), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1790264204.0970829), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1790264204.0970829), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0040054932478827965, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790264204.0970829), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.078774700541695, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790264204.0970829), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.033379110399023304, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790264204.0970829)]
+[2026-09-24 23:36:44,097][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-24 23:36:44,098][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0334
+[2026-09-24 23:36:44,098][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-24 23:36:44,776][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-24 23:36:45,077][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-24 23:36:45,707][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-24 23:36:46,008][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011253528648813571)
+[2026-09-24 23:36:46,009][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01125353]
+[2026-09-24 23:36:46,136][root][INFO] - initializing, ....
+[2026-09-24 23:36:53,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.22 Hz
+[2026-09-24 23:36:56,141][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.57 Hz
+[2026-09-24 23:37:03,332][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.37 Hz
+[2026-09-24 23:37:06,143][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.58 Hz
+[2026-09-24 23:37:11,084][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.14 iterations per second over 30.00 seconds.
+[2026-09-24 23:37:11,084][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003919 s, max step_time: 0.079412 s
+[2026-09-24 23:37:11,838][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-24 23:37:11,838][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-24 23:37:13,335][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.52 Hz
+[2026-09-24 23:37:13,996][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.06 iterations per second over 30.00 seconds.
+[2026-09-24 23:37:13,996][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003967 s, max step_time: 0.076156 s
+[2026-09-24 23:37:16,142][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.68 Hz
+[2026-09-24 23:37:23,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.97 Hz
+[2026-09-24 23:37:26,144][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.73 Hz
+[2026-09-24 23:37:33,339][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.12 Hz
+[2026-09-24 23:37:36,147][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.53 Hz
+[2026-09-24 23:37:41,084][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.73 iterations per second over 30.00 seconds.
+[2026-09-24 23:37:41,084][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003865 s, max step_time: 0.024214 s
+[2026-09-24 23:37:43,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.60 Hz
+[2026-09-24 23:37:44,000][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.00 iterations per second over 30.00 seconds.
+[2026-09-24 23:37:44,000][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003846 s, max step_time: 0.007210 s
+[2026-09-24 23:37:46,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.90 Hz
+[2026-09-24 23:37:53,344][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.86 Hz
+[2026-09-24 23:37:56,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.49 Hz
+[2026-09-24 23:38:03,346][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.07 Hz
+[2026-09-24 23:38:06,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.79 Hz
+[2026-09-24 23:38:11,085][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.56 iterations per second over 30.00 seconds.
+[2026-09-24 23:38:13,347][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.66 Hz
+[2026-09-24 23:38:14,001][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.96 iterations per second over 30.00 seconds.
+[2026-09-24 23:38:16,152][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.29 Hz
+[2026-09-24 23:38:21,511][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003832 s, max step_time: 0.007441 s
+[2026-09-24 23:38:23,349][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.13 Hz
+[2026-09-24 23:38:26,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.97 Hz
+[2026-09-24 23:38:33,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.93 Hz
+[2026-09-24 23:38:36,154][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.39 Hz
+[2026-09-24 23:38:41,086][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.73 iterations per second over 30.00 seconds.
+[2026-09-24 23:38:42,677][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003833 s, max step_time: 0.007024 s
+[2026-09-24 23:38:43,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.17 Hz
+[2026-09-24 23:38:44,005][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.27 iterations per second over 30.00 seconds.
+[2026-09-24 23:38:46,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.03 Hz
+[2026-09-24 23:38:51,513][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003897 s, max step_time: 0.008613 s
+[2026-09-24 23:38:53,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.10 Hz
+[2026-09-24 23:38:55,977][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-24 23:38:55,977][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-24 23:38:56,157][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.16 Hz
+[2026-09-24 23:39:03,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.49 Hz
+[2026-09-24 23:39:06,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.10 Hz
+[2026-09-24 23:39:11,090][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.57 iterations per second over 30.00 seconds.
+[2026-09-24 23:39:12,679][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003954 s, max step_time: 0.023574 s
+[2026-09-24 23:39:13,355][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.28 Hz
+[2026-09-24 23:39:14,006][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.52 iterations per second over 30.00 seconds.
+[2026-09-24 23:39:16,161][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.81 Hz
+[2026-09-24 23:39:21,517][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003884 s, max step_time: 0.019238 s
+[2026-09-24 23:39:23,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.37 Hz
+[2026-09-24 23:39:26,163][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.85 Hz
+[2026-09-24 23:39:33,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.59 Hz
+[2026-09-24 23:39:36,165][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.35 Hz
+[2026-09-24 23:39:41,092][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.88 iterations per second over 30.00 seconds.
+[2026-09-24 23:39:43,359][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.95 Hz
+[2026-09-24 23:39:44,008][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.58 iterations per second over 30.00 seconds.
+[2026-09-24 23:39:44,295][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003838 s, max step_time: 0.007366 s
+[2026-09-24 23:39:46,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.41 Hz
+[2026-09-24 23:39:53,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.65 Hz
+[2026-09-24 23:39:56,171][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.45 Hz
+[2026-09-24 23:40:00,386][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003840 s, max step_time: 0.007332 s
+[2026-09-24 23:40:03,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.76 Hz
+[2026-09-24 23:40:06,172][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.87 Hz
+[2026-09-24 23:40:11,092][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.56 iterations per second over 30.00 seconds.
+[2026-09-24 23:40:13,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.95 Hz
+[2026-09-24 23:40:14,008][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.13 iterations per second over 30.00 seconds.
+[2026-09-24 23:40:14,297][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003827 s, max step_time: 0.008882 s
+[2026-09-24 23:40:16,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.78 Hz
+[2026-09-24 23:40:23,367][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.52 Hz
+[2026-09-24 23:40:26,174][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.88 Hz
+[2026-09-24 23:40:30,390][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 55 times, mean step_time: 0.003868 s, max step_time: 0.010761 s
+[2026-09-24 23:40:33,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.55 Hz
+[2026-09-24 23:40:36,176][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.44 Hz
+[2026-09-24 23:40:41,095][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.04 iterations per second over 30.00 seconds.
+[2026-09-24 23:40:43,369][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.88 Hz
+[2026-09-24 23:40:44,009][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.76 iterations per second over 30.00 seconds.
+[2026-09-24 23:40:44,298][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 93 times, mean step_time: 0.003942 s, max step_time: 0.018780 s
+[2026-09-24 23:40:46,177][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.36 Hz
+[2026-09-24 23:40:53,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.73 Hz
+[2026-09-24 23:40:56,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.05 Hz
+[2026-09-24 23:41:00,391][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 77 times, mean step_time: 0.003896 s, max step_time: 0.018875 s
+[2026-09-24 23:41:03,374][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.95 Hz
+[2026-09-24 23:41:06,182][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.38 Hz
+[2026-09-24 23:41:07,515][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.91 iterations per second over 23.51 seconds.
+[2026-09-24 23:41:07,521][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.78 iterations per second over 26.43 seconds.
+[2026-09-24 23:41:19,969][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-24 23:41:19,971][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-24 23:41:19,971][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-24 23:41:19,971][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-24 23:41:19,971][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-24 23:41:19,971][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-24 23:41:19,971][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-24 23:41:19,971][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-24 23:41:19,971][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-24 23:41:19,972][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-24 23:41:19,972][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-24 23:41:19,972][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-24 23:41:19,972][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-24 23:41:19,972][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-24 23:41:19,972][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-24 23:41:19,972][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-24 23:41:19,973][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-24 23:41:19,973][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-24 23:41:19,973][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-24 23:41:19,973][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:41:19,974][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:41:19,985][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-24 23:41:19,996][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-24 23:41:20,007][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:41:20,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-24 23:41:20,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:20,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:41:20,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-24 23:41:20,063][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:20,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:41:20,085][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-24 23:41:20,096][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:20,108][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:41:20,119][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-24 23:41:20,130][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:20,141][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:41:20,152][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-24 23:41:20,163][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:20,174][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:41:20,186][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-24 23:41:20,197][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:20,208][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:41:20,208][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s))
+[2026-09-24 23:41:20,208][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:41:20,208][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:41:20,263][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:41:20,318][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:41:20,373][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:41:20,428][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:41:20,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:41:20,539][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:41:20,595][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:41:20,595][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-24 23:41:20,595][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:41:20,595][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-24 23:41:20,606][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-24 23:41:20,612][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-24 23:41:20,618][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-24 23:41:20,625][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-24 23:41:20,632][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-24 23:41:20,638][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-24 23:41:20,645][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-24 23:41:20,652][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-24 23:41:20,652][root][INFO] - current_pos: [-0.024605172808422893, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.000953688868543523, -0.052071412222476354, 0.015449759670405072]
+[2026-09-24 23:41:20,652][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-24 23:41:20,652][root][INFO] - starting separate thread for control loop
+[2026-09-24 23:41:20,753][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=-0.024605172808422893, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790264480.7533908), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790264480.7533908), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=33.0, timestamp=1790264480.7533908), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=35.0, timestamp=1790264480.7533908), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790264480.7533908), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.052071412222476354, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264480.7533908), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264480.7533908)]
+[2026-09-24 23:41:20,753][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-24 23:41:20,753][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-24 23:41:20,753][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-24 23:41:21,435][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687
+[2026-09-24 23:41:21,736][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-24 23:41:22,362][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-24 23:41:22,662][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032)
+[2026-09-24 23:41:22,662][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877]
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-24 23:41:22,902][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-24 23:41:22,902][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-24 23:41:22,902][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-24 23:41:22,903][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:41:22,903][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:41:22,905][root][INFO] - initializing, ....
+[2026-09-24 23:41:22,914][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-24 23:41:22,925][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:22,936][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:41:22,947][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-24 23:41:22,958][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:22,969][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:41:22,980][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-24 23:41:22,991][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:23,002][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:41:23,014][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-24 23:41:23,025][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:23,036][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:41:23,047][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-24 23:41:23,058][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:23,069][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:41:23,080][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-24 23:41:23,092][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:23,103][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:41:23,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-24 23:41:23,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:41:23,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:41:23,137][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-24 23:41:23,137][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:41:23,137][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:41:23,192][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:41:23,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:41:23,304][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:41:23,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:41:23,412][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:41:23,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:41:23,519][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:41:23,519][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-24 23:41:23,519][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:41:23,519][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-24 23:41:23,530][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-24 23:41:23,535][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-24 23:41:23,541][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-24 23:41:23,547][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-24 23:41:23,553][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-24 23:41:23,559][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-24 23:41:23,565][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-24 23:41:23,571][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)]
+[2026-09-24 23:41:23,571][root][INFO] - current_pos: [0.028801403830014394, -0.0020981155107957505, 0.0005722133211261138, 0.000953688868543523, 0.0001907377737087046, 0.04482337682154558, 0.051308461127641536]
+[2026-09-24 23:41:23,571][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-24 23:41:23,571][root][INFO] - starting separate thread for control loop
+[2026-09-24 23:41:23,672][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=0.028801403830014394, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790264483.6719873), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790264483.6719873), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1790264483.6719873), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1790264483.6719873), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790264483.6719873), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.04520485236896299, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790264483.6719873), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.051308461127641536, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790264483.6719873)]
+[2026-09-24 23:41:23,672][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-24 23:41:23,672][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0513
+[2026-09-24 23:41:23,672][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-24 23:41:24,302][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2554
+[2026-09-24 23:41:24,602][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-24 23:41:25,217][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-24 23:41:25,518][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011253528648817124)
+[2026-09-24 23:41:25,518][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01125353]
+[2026-09-24 23:41:25,655][root][INFO] - initializing, ....
+[2026-09-24 23:41:32,909][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.12 Hz
+[2026-09-24 23:41:35,658][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.37 Hz
+[2026-09-24 23:41:42,912][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.89 Hz
+[2026-09-24 23:41:45,660][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.84 Hz
+[2026-09-24 23:41:50,653][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.26 iterations per second over 30.00 seconds.
+[2026-09-24 23:41:50,653][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003798 s, max step_time: 0.064717 s
+[2026-09-24 23:41:52,916][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.51 Hz
+[2026-09-24 23:41:53,574][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.48 iterations per second over 30.00 seconds.
+[2026-09-24 23:41:53,574][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003853 s, max step_time: 0.063672 s
+[2026-09-24 23:41:55,662][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
+[2026-09-24 23:42:02,916][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.79 Hz
+[2026-09-24 23:42:05,665][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.23 Hz
+[2026-09-24 23:42:12,917][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.57 Hz
+[2026-09-24 23:42:15,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.76 Hz
+[2026-09-24 23:42:20,656][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.27 iterations per second over 30.00 seconds.
+[2026-09-24 23:42:22,918][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.96 Hz
+[2026-09-24 23:42:23,216][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003840 s, max step_time: 0.007338 s
+[2026-09-24 23:42:23,575][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.82 iterations per second over 30.00 seconds.
+[2026-09-24 23:42:23,576][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003834 s, max step_time: 0.008937 s
+[2026-09-24 23:42:25,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.10 Hz
+[2026-09-24 23:42:32,921][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.23 Hz
+[2026-09-24 23:42:35,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.10 Hz
+[2026-09-24 23:42:41,504][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-24 23:42:41,505][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-24 23:42:42,925][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.11 Hz
+[2026-09-24 23:42:45,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.17 Hz
+[2026-09-24 23:42:50,656][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.76 iterations per second over 30.00 seconds.
+[2026-09-24 23:42:52,925][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.50 Hz
+[2026-09-24 23:42:53,216][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003989 s, max step_time: 0.027699 s
+[2026-09-24 23:42:53,578][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.74 iterations per second over 30.00 seconds.
+[2026-09-24 23:42:53,578][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003972 s, max step_time: 0.022336 s
+[2026-09-24 23:42:55,670][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.34 Hz
+[2026-09-24 23:43:02,930][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.30 Hz
+[2026-09-24 23:43:05,673][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.93 Hz
+[2026-09-24 23:43:12,931][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.75 Hz
+[2026-09-24 23:43:15,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.28 Hz
+[2026-09-24 23:43:20,657][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.43 iterations per second over 30.00 seconds.
+[2026-09-24 23:43:22,931][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.49 Hz
+[2026-09-24 23:43:23,216][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003840 s, max step_time: 0.007312 s
+[2026-09-24 23:43:23,581][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.41 iterations per second over 30.00 seconds.
+[2026-09-24 23:43:25,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.20 Hz
+[2026-09-24 23:43:32,934][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.83 Hz
+[2026-09-24 23:43:35,680][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.83 Hz
+[2026-09-24 23:43:42,939][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.88 Hz
+[2026-09-24 23:43:45,680][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.08 Hz
+[2026-09-24 23:43:45,982][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003838 s, max step_time: 0.007402 s
+[2026-09-24 23:43:50,658][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.72 iterations per second over 30.00 seconds.
+[2026-09-24 23:43:52,942][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.32 Hz
+[2026-09-24 23:43:53,220][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003879 s, max step_time: 0.007917 s
+[2026-09-24 23:43:53,584][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.14 iterations per second over 30.00 seconds.
+[2026-09-24 23:43:55,683][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.34 Hz
+[2026-09-24 23:44:02,945][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.22 Hz
+[2026-09-24 23:44:03,905][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-24 23:44:03,905][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-24 23:44:05,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.19 Hz
+[2026-09-24 23:44:12,945][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.89 Hz
+[2026-09-24 23:44:15,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.14 Hz
+[2026-09-24 23:44:15,983][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003950 s, max step_time: 0.023247 s
+[2026-09-24 23:44:20,658][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.63 iterations per second over 30.00 seconds.
+[2026-09-24 23:44:22,949][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.86 Hz
+[2026-09-24 23:44:23,221][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003922 s, max step_time: 0.015278 s
+[2026-09-24 23:44:23,586][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.32 iterations per second over 30.00 seconds.
+[2026-09-24 23:44:25,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.79 Hz
+[2026-09-24 23:44:32,949][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.77 Hz
+[2026-09-24 23:44:35,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.17 Hz
+[2026-09-24 23:44:42,949][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.69 Hz
+[2026-09-24 23:44:45,691][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
+[2026-09-24 23:44:45,987][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003905 s, max step_time: 0.017320 s
+[2026-09-24 23:44:50,660][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.39 iterations per second over 30.00 seconds.
+[2026-09-24 23:44:52,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.36 Hz
+[2026-09-24 23:44:53,222][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003907 s, max step_time: 0.018430 s
+[2026-09-24 23:44:53,586][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.56 iterations per second over 30.00 seconds.
+[2026-09-24 23:44:55,692][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.08 Hz
+[2026-09-24 23:45:02,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.29 Hz
+[2026-09-24 23:45:05,695][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.82 Hz
+[2026-09-24 23:45:12,951][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.68 Hz
+[2026-09-24 23:45:15,695][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.38 Hz
+[2026-09-24 23:45:15,990][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003860 s, max step_time: 0.011362 s
+[2026-09-24 23:45:20,662][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.98 iterations per second over 30.00 seconds.
+[2026-09-24 23:45:22,954][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.64 Hz
+[2026-09-24 23:45:23,224][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.003870 s, max step_time: 0.011328 s
+[2026-09-24 23:45:23,590][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.60 iterations per second over 30.00 seconds.
+[2026-09-24 23:45:25,698][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.72 Hz
+[2026-09-24 23:45:32,954][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.99 Hz
+[2026-09-24 23:45:35,701][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.84 Hz
+[2026-09-24 23:45:42,957][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.02 Hz
+[2026-09-24 23:45:45,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.04 Hz
+[2026-09-24 23:45:45,993][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003827 s, max step_time: 0.011821 s
+[2026-09-24 23:45:50,667][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.36 iterations per second over 30.01 seconds.
+[2026-09-24 23:45:52,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.67 Hz
+[2026-09-24 23:45:53,230][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 58 times, mean step_time: 0.003847 s, max step_time: 0.041525 s
+[2026-09-24 23:45:53,595][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.43 iterations per second over 30.00 seconds.
+[2026-09-24 23:45:55,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.08 Hz
+[2026-09-24 23:46:02,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.59 Hz
+[2026-09-24 23:46:05,705][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.58 Hz
+[2026-09-24 23:46:12,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.77 Hz
+[2026-09-24 23:46:15,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.70 Hz
+[2026-09-24 23:46:15,994][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003837 s, max step_time: 0.010462 s
+[2026-09-24 23:46:20,668][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.43 iterations per second over 30.00 seconds.
+[2026-09-24 23:46:22,964][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.19 Hz
+[2026-09-24 23:46:23,231][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003852 s, max step_time: 0.009753 s
+[2026-09-24 23:46:23,597][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.58 iterations per second over 30.00 seconds.
+[2026-09-24 23:46:25,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.76 Hz
+[2026-09-24 23:46:32,965][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.87 Hz
+[2026-09-24 23:46:35,713][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.11 Hz
+[2026-09-24 23:46:42,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.87 Hz
+[2026-09-24 23:46:45,720][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.88 Hz
+[2026-09-24 23:46:45,998][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003823 s, max step_time: 0.010146 s
+[2026-09-24 23:46:50,671][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.08 iterations per second over 30.00 seconds.
+[2026-09-24 23:46:52,967][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.68 Hz
+[2026-09-24 23:46:53,232][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.003818 s, max step_time: 0.011988 s
+[2026-09-24 23:46:53,597][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.73 iterations per second over 30.00 seconds.
+[2026-09-24 23:46:55,721][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.53 Hz
+[2026-09-24 23:47:02,968][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.27 Hz
+[2026-09-24 23:47:05,722][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.60 Hz
+[2026-09-24 23:47:12,970][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.03 Hz
+[2026-09-24 23:47:15,725][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.23 Hz
+[2026-09-24 23:47:16,000][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003871 s, max step_time: 0.010135 s
+[2026-09-24 23:47:20,671][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.66 iterations per second over 30.00 seconds.
+[2026-09-24 23:47:20,971][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.83 iterations per second over 27.37 seconds.
+[2026-09-24 23:47:20,976][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 265.93 iterations per second over 0.30 seconds.
+[2026-09-24 23:47:22,498][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-24 23:47:22,500][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-24 23:47:22,500][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-24 23:47:22,500][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-24 23:47:22,500][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-24 23:47:22,500][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-24 23:47:22,500][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-24 23:47:22,500][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-24 23:47:22,500][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-24 23:47:22,501][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-24 23:47:22,501][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-24 23:47:22,501][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-24 23:47:22,501][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-24 23:47:22,501][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-24 23:47:22,501][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-24 23:47:22,501][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-24 23:47:22,502][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-24 23:47:22,502][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-24 23:47:22,502][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-24 23:47:22,502][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:47:22,503][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:47:22,515][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-24 23:47:22,526][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-24 23:47:22,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:47:22,549][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-24 23:47:22,560][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:22,571][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:47:22,582][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-24 23:47:22,593][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:22,604][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:47:22,615][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-24 23:47:22,627][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:22,638][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:47:22,649][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-24 23:47:22,660][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:22,671][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:47:22,682][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-24 23:47:22,693][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:22,704][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:47:22,715][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-24 23:47:22,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:22,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:47:22,737][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s))
+[2026-09-24 23:47:22,737][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:47:22,738][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:47:22,793][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:47:22,849][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
+[2026-09-24 23:47:22,904][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:47:22,959][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:47:23,014][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:47:23,069][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:47:23,124][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:47:23,124][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-24 23:47:23,124][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:47:23,124][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-24 23:47:23,136][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-24 23:47:23,141][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-24 23:47:23,147][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-24 23:47:23,154][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-24 23:47:23,161][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-24 23:47:23,167][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-24 23:47:23,174][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-24 23:47:23,180][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-24 23:47:23,180][root][INFO] - current_pos: [-0.024605172808422893, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.005149919890135024, -0.0455863279163804, 0.01583123521782248]
+[2026-09-24 23:47:23,180][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-24 23:47:23,180][root][INFO] - starting separate thread for control loop
+[2026-09-24 23:47:23,281][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=-0.024605172808422893, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1790264843.2811143), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264843.2811143), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1790264843.2811143), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=38.0, timestamp=1790264843.2811143), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.004768444342717615, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790264843.2811143), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0455863279163804, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264843.2811143), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790264843.2811143)]
+[2026-09-24 23:47:23,281][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-24 23:47:23,282][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0154
+[2026-09-24 23:47:23,282][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-24 23:47:23,905][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691
+[2026-09-24 23:47:24,205][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-24 23:47:24,834][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-24 23:47:25,134][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174639479)
+[2026-09-24 23:47:25,135][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131   -0.00743877]
+[2026-09-24 23:47:25,375][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-24 23:47:25,375][root][INFO] - initializing, ....
+[2026-09-24 23:47:25,376][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-24 23:47:25,376][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-24 23:47:25,376][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-24 23:47:25,376][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-24 23:47:25,376][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-24 23:47:25,376][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-24 23:47:25,376][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-24 23:47:25,376][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-24 23:47:25,376][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-24 23:47:25,376][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-24 23:47:25,376][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-24 23:47:25,376][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-24 23:47:25,376][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:47:25,377][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:47:25,388][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-24 23:47:25,399][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:25,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:47:25,421][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-24 23:47:25,432][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:25,443][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:47:25,454][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-24 23:47:25,465][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:25,477][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-24 23:47:25,488][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-24 23:47:25,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:25,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:47:25,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-24 23:47:25,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:25,543][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:47:25,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-24 23:47:25,565][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:25,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:47:25,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-24 23:47:25,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-24 23:47:25,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-24 23:47:25,610][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-24 23:47:25,610][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-24 23:47:25,611][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:47:25,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:47:25,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:47:25,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-24 23:47:25,832][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:47:25,888][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:47:25,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:47:26,000][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-24 23:47:26,000][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-24 23:47:26,000][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-24 23:47:26,000][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-24 23:47:26,011][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-24 23:47:26,016][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-24 23:47:26,023][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-24 23:47:26,030][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-24 23:47:26,038][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-24 23:47:26,044][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-24 23:47:26,050][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-24 23:47:26,056][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-24 23:47:26,056][root][INFO] - current_pos: [-0.047112230106050035, -0.0013351644159609322, 0.0005722133211261138, 0.0005722133211261138, -0.023079270618753256, -0.070382238498512, 0.512512397955291]
+[2026-09-24 23:47:26,056][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-24 23:47:26,056][root][INFO] - starting separate thread for control loop
+[2026-09-24 23:47:26,157][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.047112230106050035, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790264846.157255), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.08888888888888857, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790264846.157255), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=32.0, timestamp=1790264846.157255), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=38.0, timestamp=1790264846.157255), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=-0.023079270618753256, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790264846.157255), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.070382238498512, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790264846.157255), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.512512397955291, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790264846.157255)]
+[2026-09-24 23:47:26,157][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-24 23:47:26,157][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.5125
+[2026-09-24 23:47:26,157][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-24 23:47:26,783][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-24 23:47:27,084][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-24 23:47:27,710][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-24 23:47:28,010][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.260738536659801, -0.011253528648813571)
+[2026-09-24 23:47:28,011][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26073854 -0.01125353]
+[2026-09-24 23:47:28,139][root][INFO] - initializing, ....
+[2026-09-24 23:47:35,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.80 Hz
+[2026-09-24 23:47:38,141][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.40 Hz
+[2026-09-24 23:47:45,380][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.25 Hz
+[2026-09-24 23:47:48,144][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.92 Hz
+[2026-09-24 23:47:53,183][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.95 iterations per second over 30.00 seconds.
+[2026-09-24 23:47:53,183][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003803 s, max step_time: 0.068168 s
+[2026-09-24 23:47:55,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.75 Hz
+[2026-09-24 23:47:56,058][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.59 iterations per second over 30.00 seconds.
+[2026-09-24 23:47:56,059][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003852 s, max step_time: 0.067858 s
+[2026-09-24 23:47:58,147][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.92 Hz
+[2026-09-24 23:48:05,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.84 Hz
+[2026-09-24 23:48:08,147][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.39 Hz
+[2026-09-24 23:48:15,385][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.96 Hz
+[2026-09-24 23:48:18,150][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.23 Hz
+[2026-09-24 23:48:23,183][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.86 iterations per second over 30.00 seconds.
+[2026-09-24 23:48:23,184][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003863 s, max step_time: 0.007140 s
+[2026-09-24 23:48:25,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.25 Hz
+[2026-09-24 23:48:26,059][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.26 iterations per second over 30.00 seconds.
+[2026-09-24 23:48:26,059][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003857 s, max step_time: 0.007536 s
+[2026-09-24 23:48:28,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.38 Hz
+[2026-09-24 23:48:35,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.89 Hz
+[2026-09-24 23:48:38,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.35 Hz
+[2026-09-24 23:48:45,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.55 Hz
+[2026-09-24 23:48:48,154][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.16 Hz
+[2026-09-24 23:48:53,183][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.86 iterations per second over 30.00 seconds.
+[2026-09-24 23:48:55,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.32 Hz
+[2026-09-24 23:48:56,062][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.24 iterations per second over 30.00 seconds.
+[2026-09-24 23:48:58,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.25 Hz
+[2026-09-24 23:49:03,406][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003827 s, max step_time: 0.007292 s
+[2026-09-24 23:49:05,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.56 Hz
+[2026-09-24 23:49:08,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.64 Hz
+[2026-09-24 23:49:09,756][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003827 s, max step_time: 0.007002 s
+[2026-09-24 23:49:15,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.47 Hz
+[2026-09-24 23:49:18,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.78 Hz
+[2026-09-24 23:49:23,186][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.98 iterations per second over 30.00 seconds.
+[2026-09-24 23:49:25,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.08 Hz
+[2026-09-24 23:49:26,063][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.39 iterations per second over 30.00 seconds.
+[2026-09-24 23:49:28,159][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.40 Hz
+[2026-09-24 23:49:33,409][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003842 s, max step_time: 0.007113 s
+[2026-09-24 23:49:35,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.45 Hz
+[2026-09-24 23:49:38,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.80 Hz
+[2026-09-24 23:49:39,759][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003843 s, max step_time: 0.007559 s
+[2026-09-24 23:49:45,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.82 Hz
+[2026-09-24 23:49:48,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.86 Hz
+[2026-09-24 23:49:53,188][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.75 iterations per second over 30.00 seconds.
+[2026-09-24 23:49:55,402][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.18 Hz
+[2026-09-24 23:49:56,065][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.65 iterations per second over 30.00 seconds.
+[2026-09-24 23:49:58,163][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.98 Hz
+[2026-09-24 23:50:05,404][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.14 Hz
+[2026-09-24 23:50:06,839][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003845 s, max step_time: 0.007381 s
+[2026-09-24 23:50:08,164][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.86 Hz
+[2026-09-24 23:50:15,407][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.20 Hz
+[2026-09-24 23:50:18,167][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.42 Hz
+[2026-09-24 23:50:23,188][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.83 iterations per second over 30.00 seconds.
+[2026-09-24 23:50:25,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.79 Hz
+[2026-09-24 23:50:26,066][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.99 iterations per second over 30.00 seconds.
+[2026-09-24 23:50:28,168][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.07 Hz
+[2026-09-24 23:50:35,410][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.18 Hz
+[2026-09-24 23:50:36,843][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003856 s, max step_time: 0.007236 s
+[2026-09-24 23:50:37,804][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003844 s, max step_time: 0.007342 s
+[2026-09-24 23:50:38,170][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.48 Hz
+[2026-09-24 23:50:45,413][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.21 Hz
+[2026-09-24 23:50:48,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.09 Hz
+[2026-09-24 23:50:53,188][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.96 iterations per second over 30.00 seconds.
+[2026-09-24 23:50:55,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.50 Hz
+[2026-09-24 23:50:56,069][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.43 iterations per second over 30.00 seconds.
+[2026-09-24 23:50:58,171][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.52 Hz
+[2026-09-24 23:51:05,419][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.93 Hz
+[2026-09-24 23:51:06,844][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.003873 s, max step_time: 0.014066 s
+[2026-09-24 23:51:07,807][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 59 times, mean step_time: 0.003861 s, max step_time: 0.012179 s
+[2026-09-24 23:51:08,176][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.39 Hz
+[2026-09-24 23:51:15,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.54 Hz
+[2026-09-24 23:51:18,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.99 Hz
+[2026-09-24 23:51:23,192][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.50 iterations per second over 30.00 seconds.
+[2026-09-24 23:51:25,423][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.56 Hz
+[2026-09-24 23:51:26,072][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.65 iterations per second over 30.00 seconds.
+[2026-09-24 23:51:28,182][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.73 Hz
+[2026-09-24 23:51:35,425][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.95 Hz
+[2026-09-24 23:51:36,845][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 38 times, mean step_time: 0.003804 s, max step_time: 0.011749 s
+[2026-09-24 23:51:37,810][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003814 s, max step_time: 0.010854 s
+[2026-09-24 23:51:38,184][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.46 Hz
+[2026-09-24 23:51:45,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.74 Hz
+[2026-09-24 23:51:48,189][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.55 Hz
+[2026-09-24 23:51:53,196][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.30 iterations per second over 30.00 seconds.
+[2026-09-24 23:51:55,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.30 Hz
+[2026-09-24 23:51:56,073][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.85 iterations per second over 30.00 seconds.
+[2026-09-24 23:51:58,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.97 Hz
+[2026-09-24 23:52:05,430][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.83 Hz
+[2026-09-24 23:52:06,845][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003848 s, max step_time: 0.011480 s
+[2026-09-24 23:52:07,811][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003852 s, max step_time: 0.011815 s
+[2026-09-24 23:52:08,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.28 Hz
+[2026-09-24 23:52:15,431][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.25 Hz
+[2026-09-24 23:52:18,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.79 Hz
+[2026-09-24 23:52:23,196][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.39 iterations per second over 30.00 seconds.
+[2026-09-24 23:52:25,434][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.64 Hz
+[2026-09-24 23:52:26,074][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.76 iterations per second over 30.00 seconds.
+[2026-09-24 23:52:28,189][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.18 Hz
+[2026-09-24 23:52:35,439][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.44 Hz
+[2026-09-24 23:52:36,847][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 56 times, mean step_time: 0.003864 s, max step_time: 0.010127 s
+[2026-09-24 23:52:37,811][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.003848 s, max step_time: 0.010622 s
+[2026-09-24 23:52:38,191][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.05 Hz
+[2026-09-24 23:52:45,439][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.47 Hz
+[2026-09-24 23:52:48,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.63 Hz
+[2026-09-24 23:52:53,200][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.30 iterations per second over 30.00 seconds.
+[2026-09-24 23:52:55,438][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.68 Hz
+[2026-09-24 23:52:56,079][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.22 iterations per second over 30.01 seconds.
+[2026-09-24 23:52:58,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.20 Hz
+[2026-09-24 23:53:05,440][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.85 Hz
+[2026-09-24 23:53:06,849][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003851 s, max step_time: 0.010175 s
+[2026-09-24 23:53:07,813][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003854 s, max step_time: 0.010447 s
+[2026-09-24 23:53:08,199][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.78 Hz
+[2026-09-24 23:53:15,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.16 Hz
+[2026-09-24 23:53:18,200][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.86 Hz
+[2026-09-24 23:53:23,200][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.16 iterations per second over 30.00 seconds.
+[2026-09-24 23:53:25,443][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.08 Hz
+[2026-09-24 23:53:26,082][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.41 iterations per second over 30.00 seconds.
+[2026-09-24 23:53:28,204][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.20 Hz
+[2026-09-24 23:53:35,445][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.17 Hz
+[2026-09-24 23:53:36,851][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003839 s, max step_time: 0.007932 s
+[2026-09-24 23:53:37,816][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003854 s, max step_time: 0.007135 s
+[2026-09-24 23:53:38,209][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.51 Hz
+[2026-09-24 23:53:45,445][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.48 Hz
+[2026-09-24 23:53:48,208][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.39 Hz
+[2026-09-24 23:53:53,201][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.09 iterations per second over 30.00 seconds.
+[2026-09-24 23:53:55,447][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.24 Hz
+[2026-09-24 23:53:56,085][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.87 iterations per second over 30.00 seconds.
+[2026-09-24 23:53:58,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.28 Hz
+[2026-09-24 23:54:05,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.04 Hz
+[2026-09-24 23:54:06,852][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003841 s, max step_time: 0.007108 s
+[2026-09-24 23:54:08,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.90 Hz
+[2026-09-24 23:54:15,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.99 Hz
+[2026-09-24 23:54:18,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.89 Hz
+[2026-09-24 23:54:23,204][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.14 iterations per second over 30.00 seconds.
+[2026-09-24 23:54:25,450][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.79 Hz
+[2026-09-24 23:54:26,086][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.66 iterations per second over 30.00 seconds.
+[2026-09-24 23:54:28,216][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.11 Hz
+[2026-09-24 23:54:35,452][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.55 Hz
+[2026-09-24 23:54:38,217][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.57 Hz
+[2026-09-24 23:54:44,939][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003864 s, max step_time: 0.007735 s
+[2026-09-24 23:54:45,453][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.28 Hz
+[2026-09-24 23:54:48,219][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.69 Hz
+[2026-09-24 23:54:53,205][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.73 iterations per second over 30.00 seconds.
+[2026-09-24 23:54:53,689][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003854 s, max step_time: 0.007142 s
+[2026-09-24 23:54:55,455][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.94 Hz
+[2026-09-24 23:54:56,089][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.27 iterations per second over 30.00 seconds.
+[2026-09-24 23:54:58,223][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.81 Hz
+[2026-09-24 23:55:05,457][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.77 Hz
+[2026-09-24 23:55:08,222][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.98 Hz
+[2026-09-24 23:55:14,940][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003865 s, max step_time: 0.007048 s
+[2026-09-24 23:55:15,458][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.68 Hz
+[2026-09-24 23:55:18,226][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.91 Hz
+[2026-09-24 23:55:23,207][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.92 iterations per second over 30.00 seconds.
+[2026-09-24 23:55:25,460][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.25 Hz
+[2026-09-24 23:55:26,094][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.49 iterations per second over 30.00 seconds.
+[2026-09-24 23:55:28,226][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.20 Hz
+[2026-09-24 23:55:29,028][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003879 s, max step_time: 0.007403 s
+[2026-09-24 23:55:35,461][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.77 Hz
+[2026-09-24 23:55:38,229][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.94 Hz
+[2026-09-24 23:55:44,945][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003854 s, max step_time: 0.007498 s
+[2026-09-24 23:55:45,464][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.91 Hz
+[2026-09-24 23:55:48,230][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.96 Hz
+[2026-09-24 23:55:53,210][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.47 iterations per second over 30.00 seconds.
+[2026-09-24 23:55:55,464][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.29 Hz
+[2026-09-24 23:55:56,096][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.35 iterations per second over 30.00 seconds.
+[2026-09-24 23:55:58,233][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.12 Hz
+[2026-09-24 23:55:59,029][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003875 s, max step_time: 0.007460 s
+[2026-09-24 23:56:05,464][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.90 Hz
+[2026-09-24 23:56:08,236][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.22 Hz
+[2026-09-24 23:56:14,949][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003868 s, max step_time: 0.008519 s
+[2026-09-24 23:56:15,465][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
+[2026-09-24 23:56:18,238][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.55 Hz
+[2026-09-24 23:56:23,213][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.14 iterations per second over 30.00 seconds.
+[2026-09-24 23:56:25,469][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.90 Hz
+[2026-09-24 23:56:26,097][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.28 iterations per second over 30.00 seconds.
+[2026-09-24 23:56:28,239][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.67 Hz
+[2026-09-24 23:56:29,032][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003827 s, max step_time: 0.009666 s
+[2026-09-24 23:56:35,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.13 Hz
+[2026-09-24 23:56:38,244][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.63 Hz
+[2026-09-24 23:56:44,952][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003847 s, max step_time: 0.010260 s
+[2026-09-24 23:56:45,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.70 Hz
+[2026-09-24 23:56:48,243][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.48 Hz
+[2026-09-24 23:56:53,214][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.93 iterations per second over 30.00 seconds.
+[2026-09-24 23:56:55,475][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
+[2026-09-24 23:56:56,098][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.10 iterations per second over 30.00 seconds.
+[2026-09-24 23:56:58,246][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.22 Hz
+[2026-09-24 23:56:59,035][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003875 s, max step_time: 0.012858 s
+[2026-09-24 23:57:05,477][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.55 Hz
+[2026-09-24 23:57:08,246][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.49 Hz
+[2026-09-24 23:57:14,955][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003868 s, max step_time: 0.011705 s
+[2026-09-24 23:57:15,480][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.84 Hz
+[2026-09-24 23:57:18,249][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.52 Hz
+[2026-09-24 23:57:23,214][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.00 iterations per second over 30.00 seconds.
+[2026-09-24 23:57:25,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.93 Hz
+[2026-09-24 23:57:26,099][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.89 iterations per second over 30.00 seconds.
+[2026-09-24 23:57:28,251][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.05 Hz
+[2026-09-24 23:57:29,036][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 55 times, mean step_time: 0.003878 s, max step_time: 0.012196 s
+[2026-09-24 23:57:35,483][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.77 Hz
+[2026-09-24 23:57:38,254][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.52 Hz
+[2026-09-24 23:57:44,956][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003869 s, max step_time: 0.011940 s
+[2026-09-24 23:57:45,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.44 Hz
+[2026-09-24 23:57:48,256][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.86 Hz
+[2026-09-24 23:57:53,215][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.90 iterations per second over 30.00 seconds.
+[2026-09-24 23:57:55,489][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.30 Hz
+[2026-09-24 23:57:56,102][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.04 iterations per second over 30.00 seconds.
+[2026-09-24 23:57:58,256][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.59 Hz
+[2026-09-24 23:57:59,039][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 41 times, mean step_time: 0.003866 s, max step_time: 0.009630 s
+[2026-09-24 23:58:05,492][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.73 Hz
+[2026-09-24 23:58:08,259][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.03 Hz
+[2026-09-24 23:58:14,957][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003846 s, max step_time: 0.010350 s
+[2026-09-24 23:58:15,495][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.63 Hz
+[2026-09-24 23:58:18,263][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.20 Hz
+[2026-09-24 23:58:23,215][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.09 iterations per second over 30.00 seconds.
+[2026-09-24 23:58:25,497][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.81 Hz
+[2026-09-24 23:58:26,105][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.54 iterations per second over 30.00 seconds.
+[2026-09-24 23:58:28,265][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.13 Hz
+[2026-09-24 23:58:29,040][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003835 s, max step_time: 0.009830 s
+[2026-09-24 23:58:35,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.98 Hz
+[2026-09-24 23:58:38,266][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.99 Hz
+[2026-09-24 23:58:44,959][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003860 s, max step_time: 0.010258 s
+[2026-09-24 23:58:45,500][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.85 Hz
+[2026-09-24 23:58:48,269][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.33 Hz
+[2026-09-24 23:58:53,217][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.78 iterations per second over 30.00 seconds.
+[2026-09-24 23:58:55,503][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.63 Hz
+[2026-09-24 23:58:56,107][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.25 iterations per second over 30.00 seconds.
+[2026-09-24 23:58:58,270][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.07 Hz
+[2026-09-24 23:58:59,042][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003879 s, max step_time: 0.007374 s
+[2026-09-24 23:59:05,504][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.38 Hz
+[2026-09-24 23:59:08,271][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
+[2026-09-24 23:59:14,962][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003857 s, max step_time: 0.007240 s
+[2026-09-24 23:59:15,506][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.25 Hz
+[2026-09-24 23:59:18,273][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.77 Hz
+[2026-09-24 23:59:23,220][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.78 iterations per second over 30.00 seconds.
+[2026-09-24 23:59:25,507][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.16 Hz
+[2026-09-24 23:59:26,112][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.93 iterations per second over 30.00 seconds.
+[2026-09-24 23:59:28,273][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.29 Hz
+[2026-09-24 23:59:29,043][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003866 s, max step_time: 0.007857 s
+[2026-09-24 23:59:35,510][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.52 Hz
+[2026-09-24 23:59:38,274][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.18 Hz
+[2026-09-24 23:59:44,964][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003862 s, max step_time: 0.009704 s
+[2026-09-24 23:59:45,513][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.03 Hz
+[2026-09-24 23:59:48,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.07 Hz
+[2026-09-24 23:59:53,220][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.30 iterations per second over 30.00 seconds.
+[2026-09-24 23:59:55,516][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.91 Hz
+[2026-09-24 23:59:56,114][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.01 iterations per second over 30.00 seconds.
+[2026-09-24 23:59:58,279][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.95 Hz
+[2026-09-24 23:59:59,046][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003851 s, max step_time: 0.007395 s
+[2026-09-25 00:00:05,517][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.38 Hz
+[2026-09-25 00:00:08,281][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.01 Hz
+[2026-09-25 00:00:14,964][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003842 s, max step_time: 0.007403 s
+[2026-09-25 00:00:15,520][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
+[2026-09-25 00:00:18,283][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.73 Hz
+[2026-09-25 00:00:23,222][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.82 iterations per second over 30.00 seconds.
+[2026-09-25 00:00:25,522][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.22 Hz
+[2026-09-25 00:00:26,116][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.88 iterations per second over 30.00 seconds.
+[2026-09-25 00:00:28,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.68 Hz
+[2026-09-25 00:00:29,050][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003841 s, max step_time: 0.008646 s
+[2026-09-25 00:00:35,526][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
+[2026-09-25 00:00:38,287][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.82 Hz
+[2026-09-25 00:00:44,968][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003868 s, max step_time: 0.007291 s
+[2026-09-25 00:00:45,528][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.42 Hz
+[2026-09-25 00:00:48,289][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.36 Hz
+[2026-09-25 00:00:53,225][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.28 iterations per second over 30.00 seconds.
+[2026-09-25 00:00:55,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.12 Hz
+[2026-09-25 00:00:56,119][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.81 iterations per second over 30.00 seconds.
+[2026-09-25 00:00:58,290][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.27 Hz
+[2026-09-25 00:00:59,053][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003911 s, max step_time: 0.007418 s
+[2026-09-25 00:01:05,534][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.35 Hz
+[2026-09-25 00:01:08,294][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.71 Hz
+[2026-09-25 00:01:14,970][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003851 s, max step_time: 0.007311 s
+[2026-09-25 00:01:15,533][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.19 Hz
+[2026-09-25 00:01:18,294][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.68 Hz
+[2026-09-25 00:01:23,228][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.77 iterations per second over 30.00 seconds.
+[2026-09-25 00:01:25,536][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.33 Hz
+[2026-09-25 00:01:26,120][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.49 iterations per second over 30.00 seconds.
+[2026-09-25 00:01:28,296][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
+[2026-09-25 00:01:29,056][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003861 s, max step_time: 0.009109 s
+[2026-09-25 00:01:35,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.87 Hz
+[2026-09-25 00:01:38,298][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.86 Hz
+[2026-09-25 00:01:44,974][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003869 s, max step_time: 0.009313 s
+[2026-09-25 00:01:45,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.05 Hz
+[2026-09-25 00:01:48,304][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.30 Hz
+[2026-09-25 00:01:53,231][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.61 iterations per second over 30.00 seconds.
+[2026-09-25 00:01:55,544][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.36 Hz
+[2026-09-25 00:01:56,123][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.27 iterations per second over 30.00 seconds.
+[2026-09-25 00:01:58,303][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.77 Hz
+[2026-09-25 00:01:59,060][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003867 s, max step_time: 0.009727 s
+[2026-09-25 00:02:05,545][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.46 Hz
+[2026-09-25 00:02:08,309][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.73 Hz
+[2026-09-25 00:02:14,976][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003844 s, max step_time: 0.009743 s
+[2026-09-25 00:02:15,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.26 Hz
+[2026-09-25 00:02:18,310][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.00 Hz
+[2026-09-25 00:02:23,232][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.89 iterations per second over 30.00 seconds.
+[2026-09-25 00:02:25,551][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.71 Hz
+[2026-09-25 00:02:26,125][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.85 iterations per second over 30.00 seconds.
+[2026-09-25 00:02:28,312][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.42 Hz
+[2026-09-25 00:02:29,063][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 59 times, mean step_time: 0.003864 s, max step_time: 0.011461 s
+[2026-09-25 00:02:35,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.14 Hz
+[2026-09-25 00:02:38,314][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.19 Hz
+[2026-09-25 00:02:44,976][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003870 s, max step_time: 0.012841 s
+[2026-09-25 00:02:45,556][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.13 Hz
+[2026-09-25 00:02:48,314][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.65 Hz
+[2026-09-25 00:02:53,233][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.72 iterations per second over 30.00 seconds.
+[2026-09-25 00:02:55,556][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.47 Hz
+[2026-09-25 00:02:56,126][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.82 iterations per second over 30.00 seconds.
+[2026-09-25 00:02:57,625][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 266.28 iterations per second over 1.50 seconds.
+[2026-09-25 00:02:57,632][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.11 iterations per second over 4.40 seconds.
+[2026-09-25 00:02:59,226][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 00:02:59,227][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 00:02:59,227][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 00:02:59,227][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 00:02:59,227][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 00:02:59,228][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 00:02:59,228][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 00:02:59,228][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 00:02:59,228][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 00:02:59,229][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 00:02:59,229][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 00:02:59,229][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 00:02:59,229][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 00:02:59,229][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 00:02:59,229][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 00:02:59,229][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 00:02:59,229][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:02:59,229][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:02:59,229][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:02:59,229][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:02:59,229][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:02:59,229][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:02:59,229][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:02:59,229][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:02:59,229][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:02:59,229][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:02:59,230][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:02:59,230][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:02:59,230][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 00:02:59,230][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:02:59,231][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:02:59,243][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:02:59,254][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 00:02:59,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:02:59,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:02:59,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:02:59,298][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:02:59,309][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:02:59,320][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:02:59,331][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:02:59,342][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:02:59,353][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:02:59,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:02:59,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:02:59,387][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:02:59,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:02:59,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:02:59,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:02:59,431][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:02:59,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:02:59,453][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:02:59,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:02:59,464][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 00:02:59,464][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:02:59,464][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:02:59,520][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:02:59,575][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:02:59,630][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:02:59,685][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:02:59,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:02:59,795][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:02:59,850][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:02:59,850][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 00:02:59,850][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:02:59,851][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:02:59,862][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:02:59,867][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:02:59,874][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:02:59,881][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:02:59,887][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:02:59,894][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:02:59,900][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:02:59,906][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 00:02:59,906][root][INFO] - current_pos: [-0.024605172808422893, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.0013351644159609322, -0.052071412222476354, 0.01583123521782248]
+[2026-09-25 00:02:59,906][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:02:59,906][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:03:00,007][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.024605172808422893, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790265780.0072), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790265780.0072), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790265780.0072), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1790265780.0072), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790265780.0072), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=-0.052071412222476354, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790265780.0072), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.01583123521782248, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790265780.0072)]
+[2026-09-25 00:03:00,007][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:03:00,007][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-25 00:03:00,007][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:03:00,690][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687
+[2026-09-25 00:03:00,990][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:03:01,620][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 00:03:01,921][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032)
+[2026-09-25 00:03:01,921][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877]
+[2026-09-25 00:03:02,153][root][INFO] - initializing, ....
+[2026-09-25 00:03:02,153][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:03:02,153][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:03:02,153][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:03:02,153][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:03:02,153][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:03:02,153][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:03:02,154][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:03:02,154][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:03:02,154][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:03:02,154][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:03:02,154][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:03:02,154][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:03:02,154][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 00:03:02,154][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:03:02,154][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:03:02,165][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:03:02,176][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:03:02,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:03:02,198][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:03:02,208][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:03:02,219][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:03:02,230][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:03:02,241][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:03:02,251][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:03:02,262][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:03:02,273][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:03:02,284][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:03:02,295][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:03:02,305][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:03:02,316][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:03:02,327][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:03:02,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:03:02,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:03:02,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:03:02,370][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:03:02,381][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:03:02,381][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 00:03:02,381][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:03:02,381][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:03:02,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:03:02,492][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:03:02,547][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:03:02,600][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:03:02,654][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:03:02,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:03:02,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:03:02,762][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 00:03:02,762][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:03:02,762][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:03:02,773][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:03:02,778][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:03:02,785][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:03:02,791][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:03:02,798][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:03:02,804][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:03:02,810][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:03:02,816][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 00:03:02,816][root][INFO] - current_pos: [-0.04062714579995408, 0.0005722133211261138, 0.000953688868543523, 0.0020981155107957505, -0.04367895017929335, -0.08106355382619945, 0.006294346532387252]
+[2026-09-25 00:03:02,816][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:03:02,816][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:03:02,916][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=-0.04062714579995408, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790265782.9167027), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.07521367521367495, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790265782.9167027), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1790265782.9167027), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790265782.9167027), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.04367895017929335, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790265782.9167027), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.08106355382619945, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790265782.9167027), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.006294346532387252, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790265782.9167027)]
+[2026-09-25 00:03:02,916][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:03:02,916][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063
+[2026-09-25 00:03:02,916][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:03:03,596][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 00:03:03,896][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:03:04,523][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-25 00:03:04,823][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.011253528648817124)
+[2026-09-25 00:03:04,823][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164  -0.01125353]
+[2026-09-25 00:03:04,956][root][INFO] - initializing, ....
+[2026-09-25 00:03:12,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.24 Hz
+[2026-09-25 00:03:14,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.81 Hz
+[2026-09-25 00:03:22,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.11 Hz
+[2026-09-25 00:03:24,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.38 Hz
+[2026-09-25 00:03:29,908][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.92 iterations per second over 30.00 seconds.
+[2026-09-25 00:03:29,908][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003907 s, max step_time: 0.065594 s
+[2026-09-25 00:03:32,163][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.46 Hz
+[2026-09-25 00:03:32,819][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.20 iterations per second over 30.00 seconds.
+[2026-09-25 00:03:32,820][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003949 s, max step_time: 0.066453 s
+[2026-09-25 00:03:34,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.28 Hz
+[2026-09-25 00:03:37,506][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:03:37,506][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:03:42,167][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.09 Hz
+[2026-09-25 00:03:44,964][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.59 Hz
+[2026-09-25 00:03:52,170][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.82 Hz
+[2026-09-25 00:03:54,964][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.57 Hz
+[2026-09-25 00:03:59,909][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.13 iterations per second over 30.00 seconds.
+[2026-09-25 00:03:59,909][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003904 s, max step_time: 0.027551 s
+[2026-09-25 00:04:02,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.44 Hz
+[2026-09-25 00:04:02,821][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.72 iterations per second over 30.00 seconds.
+[2026-09-25 00:04:02,821][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003880 s, max step_time: 0.029692 s
+[2026-09-25 00:04:04,968][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.21 Hz
+[2026-09-25 00:04:12,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.89 Hz
+[2026-09-25 00:04:14,970][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.95 Hz
+[2026-09-25 00:04:22,177][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.81 Hz
+[2026-09-25 00:04:24,970][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.89 Hz
+[2026-09-25 00:04:29,911][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.32 iterations per second over 30.00 seconds.
+[2026-09-25 00:04:29,911][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003948 s, max step_time: 0.008982 s
+[2026-09-25 00:04:32,182][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.49 Hz
+[2026-09-25 00:04:32,826][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.96 iterations per second over 30.01 seconds.
+[2026-09-25 00:04:32,826][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003969 s, max step_time: 0.008352 s
+[2026-09-25 00:04:34,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.62 Hz
+[2026-09-25 00:04:38,983][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:04:38,983][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:04:42,182][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.26 Hz
+[2026-09-25 00:04:44,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.65 Hz
+[2026-09-25 00:04:52,183][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.28 Hz
+[2026-09-25 00:04:54,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.88 Hz
+[2026-09-25 00:04:59,912][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.62 iterations per second over 30.00 seconds.
+[2026-09-25 00:04:59,912][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003959 s, max step_time: 0.031115 s
+[2026-09-25 00:05:02,187][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.93 Hz
+[2026-09-25 00:05:02,828][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.88 iterations per second over 30.00 seconds.
+[2026-09-25 00:05:02,828][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003923 s, max step_time: 0.023840 s
+[2026-09-25 00:05:04,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.09 Hz
+[2026-09-25 00:05:12,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.35 Hz
+[2026-09-25 00:05:14,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.47 Hz
+[2026-09-25 00:05:22,192][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.82 Hz
+[2026-09-25 00:05:24,980][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.20 Hz
+[2026-09-25 00:05:29,914][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.22 iterations per second over 30.00 seconds.
+[2026-09-25 00:05:29,914][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003965 s, max step_time: 0.010841 s
+[2026-09-25 00:05:32,192][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.38 Hz
+[2026-09-25 00:05:32,831][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.94 iterations per second over 30.00 seconds.
+[2026-09-25 00:05:32,831][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003985 s, max step_time: 0.010300 s
+[2026-09-25 00:05:34,985][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.79 Hz
+[2026-09-25 00:05:35,046][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:05:35,047][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:05:42,192][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.40 Hz
+[2026-09-25 00:05:44,986][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.69 Hz
+[2026-09-25 00:05:52,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.37 Hz
+[2026-09-25 00:05:54,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.79 Hz
+[2026-09-25 00:05:59,915][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.35 iterations per second over 30.00 seconds.
+[2026-09-25 00:05:59,916][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003916 s, max step_time: 0.038055 s
+[2026-09-25 00:06:02,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.58 Hz
+[2026-09-25 00:06:02,834][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.47 iterations per second over 30.00 seconds.
+[2026-09-25 00:06:02,834][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003914 s, max step_time: 0.031533 s
+[2026-09-25 00:06:04,986][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.00 Hz
+[2026-09-25 00:06:12,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.72 Hz
+[2026-09-25 00:06:13,280][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:06:13,280][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:06:14,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.47 Hz
+[2026-09-25 00:06:22,201][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.51 Hz
+[2026-09-25 00:06:24,989][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.25 Hz
+[2026-09-25 00:06:29,919][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.64 iterations per second over 30.00 seconds.
+[2026-09-25 00:06:29,919][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003974 s, max step_time: 0.027387 s
+[2026-09-25 00:06:32,202][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.49 Hz
+[2026-09-25 00:06:32,834][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.53 iterations per second over 30.00 seconds.
+[2026-09-25 00:06:32,835][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003944 s, max step_time: 0.024191 s
+[2026-09-25 00:06:34,992][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.03 Hz
+[2026-09-25 00:06:42,203][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.28 Hz
+[2026-09-25 00:06:44,995][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.82 Hz
+[2026-09-25 00:06:52,203][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.79 Hz
+[2026-09-25 00:06:54,998][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.21 Hz
+[2026-09-25 00:06:59,921][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.51 iterations per second over 30.00 seconds.
+[2026-09-25 00:06:59,921][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003883 s, max step_time: 0.010298 s
+[2026-09-25 00:07:02,206][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.12 Hz
+[2026-09-25 00:07:02,838][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.43 iterations per second over 30.00 seconds.
+[2026-09-25 00:07:02,839][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 37 times, mean step_time: 0.003869 s, max step_time: 0.010485 s
+[2026-09-25 00:07:05,000][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.17 Hz
+[2026-09-25 00:07:12,208][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.03 Hz
+[2026-09-25 00:07:15,000][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.09 Hz
+[2026-09-25 00:07:22,209][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.99 Hz
+[2026-09-25 00:07:25,002][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.34 Hz
+[2026-09-25 00:07:29,925][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.23 iterations per second over 30.00 seconds.
+[2026-09-25 00:07:29,926][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003873 s, max step_time: 0.009299 s
+[2026-09-25 00:07:32,210][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.48 Hz
+[2026-09-25 00:07:32,840][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.29 iterations per second over 30.00 seconds.
+[2026-09-25 00:07:32,840][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003872 s, max step_time: 0.010522 s
+[2026-09-25 00:07:35,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.19 Hz
+[2026-09-25 00:07:42,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.16 Hz
+[2026-09-25 00:07:45,009][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.04 Hz
+[2026-09-25 00:07:52,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.36 Hz
+[2026-09-25 00:07:55,012][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.83 Hz
+[2026-09-25 00:07:59,926][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.83 iterations per second over 30.00 seconds.
+[2026-09-25 00:07:59,926][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 76 times, mean step_time: 0.003879 s, max step_time: 0.011664 s
+[2026-09-25 00:08:02,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.00 Hz
+[2026-09-25 00:08:02,842][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.95 iterations per second over 30.00 seconds.
+[2026-09-25 00:08:02,842][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 76 times, mean step_time: 0.003862 s, max step_time: 0.012836 s
+[2026-09-25 00:08:05,012][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.08 Hz
+[2026-09-25 00:08:12,215][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.94 Hz
+[2026-09-25 00:08:15,018][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.54 Hz
+[2026-09-25 00:08:22,218][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.22 Hz
+[2026-09-25 00:08:25,015][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.69 Hz
+[2026-09-25 00:08:29,929][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.27 iterations per second over 30.00 seconds.
+[2026-09-25 00:08:29,929][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003714 s, max step_time: 0.009002 s
+[2026-09-25 00:08:32,221][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.23 Hz
+[2026-09-25 00:08:32,230][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.92 iterations per second over 29.39 seconds.
+[2026-09-25 00:08:32,238][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 272.84 iterations per second over 2.31 seconds.
+[2026-09-25 00:08:34,751][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 00:08:34,752][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 00:08:34,752][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 00:08:34,752][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 00:08:34,753][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 00:08:34,753][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 00:08:34,753][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 00:08:34,753][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 00:08:34,753][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 00:08:34,754][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 00:08:34,754][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 00:08:34,754][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 00:08:34,754][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 00:08:34,754][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 00:08:34,754][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 00:08:34,754][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 00:08:34,754][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:08:34,754][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:08:34,754][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:08:34,754][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:08:34,755][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:08:34,755][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:08:34,755][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:08:34,755][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:08:34,755][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:08:34,755][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:08:34,755][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:08:34,755][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:08:34,755][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 00:08:34,755][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:08:34,756][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:08:34,767][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:08:34,778][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 00:08:34,789][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:08:34,800][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:08:34,811][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:34,822][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:08:34,833][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:08:34,844][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:34,855][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:08:34,866][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:08:34,877][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:34,888][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:08:34,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:08:34,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:34,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:08:34,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:08:34,942][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:34,953][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:08:34,964][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:08:34,975][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:34,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:08:34,986][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 00:08:34,986][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:08:34,986][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:08:35,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:08:35,094][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:08:35,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:08:35,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:08:35,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:08:35,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:08:35,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:08:35,364][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 00:08:35,364][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:08:35,364][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:08:35,375][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:08:35,380][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:08:35,387][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:08:35,393][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:08:35,399][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:08:35,405][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:08:35,411][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:08:35,417][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 00:08:35,417][root][INFO] - current_pos: [-0.024605172808422893, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.000953688868543523, -0.04863813229571967, -0.0017166399633783413]
+[2026-09-25 00:08:35,417][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:08:35,417][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:08:35,518][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.024605172808422893, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790266115.5182416), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790266115.5182416), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790266115.5182416), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1790266115.5182416), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790266115.5182416), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0366300366300365, eff=0.0024420024420024333, pos=-0.04863813229571967, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790266115.5182416), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.0017166399633783413, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790266115.5182416)]
+[2026-09-25 00:08:35,518][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:08:35,518][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0017
+[2026-09-25 00:08:35,518][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:08:36,145][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695
+[2026-09-25 00:08:36,445][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:08:37,076][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 00:08:37,377][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.008964675364309116)
+[2026-09-25 00:08:37,377][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00896468]
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:08:37,615][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:08:37,615][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:08:37,616][root][INFO] - initializing, ....
+[2026-09-25 00:08:37,616][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 00:08:37,616][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:08:37,616][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:08:37,627][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:08:37,638][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:37,648][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:08:37,659][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:08:37,670][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:37,680][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:08:37,691][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:08:37,702][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:37,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:08:37,723][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:08:37,734][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:37,745][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:08:37,756][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:08:37,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:37,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:08:37,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:08:37,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:37,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:08:37,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:08:37,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:08:37,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:08:37,842][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 00:08:37,842][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:08:37,842][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:08:37,895][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:08:37,950][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:08:38,003][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:08:38,057][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:08:38,110][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:08:38,164][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:08:38,218][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:08:38,218][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 00:08:38,218][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:08:38,218][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:08:38,229][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:08:38,234][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:08:38,240][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:08:38,246][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:08:38,253][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:08:38,259][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:08:38,267][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:08:38,273][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 00:08:38,273][root][INFO] - current_pos: [-0.03871976806286703, -0.0020981155107957505, 0.000953688868543523, 0.0005722133211261138, -0.004386968795300206, 0.04482337682154558, 0.014305333028152845]
+[2026-09-25 00:08:38,273][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:08:38,273][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:08:38,373][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=-0.03833829251544607, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790266118.3736691), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1790266118.3736691), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1790266118.3736691), 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=39.0, timestamp=1790266118.3736691), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.004386968795300206, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1790266118.3736691), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.04520485236896299, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790266118.3736691), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.014305333028152845, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790266118.3736691)]
+[2026-09-25 00:08:38,373][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:08:38,373][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0143
+[2026-09-25 00:08:38,373][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:08:39,055][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 00:08:39,355][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:08:39,984][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-25 00:08:40,284][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.011253528648813571)
+[2026-09-25 00:08:40,285][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164  -0.01125353]
+[2026-09-25 00:08:40,422][root][INFO] - initializing, ....
+[2026-09-25 00:08:47,619][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.04 Hz
+[2026-09-25 00:08:50,426][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.23 Hz
+[2026-09-25 00:08:57,622][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.44 Hz
+[2026-09-25 00:09:00,428][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.27 Hz
+[2026-09-25 00:09:05,419][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.46 iterations per second over 30.00 seconds.
+[2026-09-25 00:09:05,419][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003824 s, max step_time: 0.069822 s
+[2026-09-25 00:09:07,625][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.42 Hz
+[2026-09-25 00:09:08,276][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.24 iterations per second over 30.00 seconds.
+[2026-09-25 00:09:08,276][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003872 s, max step_time: 0.062807 s
+[2026-09-25 00:09:10,430][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.65 Hz
+[2026-09-25 00:09:17,629][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.21 Hz
+[2026-09-25 00:09:20,431][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.78 Hz
+[2026-09-25 00:09:27,630][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.36 Hz
+[2026-09-25 00:09:30,432][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
+[2026-09-25 00:09:35,423][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.43 iterations per second over 30.00 seconds.
+[2026-09-25 00:09:35,423][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003840 s, max step_time: 0.007030 s
+[2026-09-25 00:09:37,633][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.23 Hz
+[2026-09-25 00:09:38,277][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.50 iterations per second over 30.00 seconds.
+[2026-09-25 00:09:40,433][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.29 Hz
+[2026-09-25 00:09:47,635][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.94 Hz
+[2026-09-25 00:09:50,434][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.16 Hz
+[2026-09-25 00:09:57,635][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.08 Hz
+[2026-09-25 00:10:00,438][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.01 Hz
+[2026-09-25 00:10:05,425][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.02 iterations per second over 30.00 seconds.
+[2026-09-25 00:10:05,425][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003817 s, max step_time: 0.007090 s
+[2026-09-25 00:10:07,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.51 Hz
+[2026-09-25 00:10:08,278][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.49 iterations per second over 30.00 seconds.
+[2026-09-25 00:10:09,671][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003840 s, max step_time: 0.008308 s
+[2026-09-25 00:10:10,440][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.63 Hz
+[2026-09-25 00:10:17,642][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.33 Hz
+[2026-09-25 00:10:20,444][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.91 Hz
+[2026-09-25 00:10:26,439][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:10:26,439][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:10:27,645][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.62 Hz
+[2026-09-25 00:10:30,446][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.24 Hz
+[2026-09-25 00:10:35,428][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.44 iterations per second over 30.00 seconds.
+[2026-09-25 00:10:35,428][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003946 s, max step_time: 0.021987 s
+[2026-09-25 00:10:37,649][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.62 Hz
+[2026-09-25 00:10:38,280][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.98 iterations per second over 30.00 seconds.
+[2026-09-25 00:10:39,673][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003932 s, max step_time: 0.021341 s
+[2026-09-25 00:10:40,450][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.80 Hz
+[2026-09-25 00:10:47,651][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.12 Hz
+[2026-09-25 00:10:50,453][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.26 Hz
+[2026-09-25 00:10:57,654][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.33 Hz
+[2026-09-25 00:11:00,452][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.19 Hz
+[2026-09-25 00:11:05,430][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.79 iterations per second over 30.00 seconds.
+[2026-09-25 00:11:07,654][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.20 Hz
+[2026-09-25 00:11:08,284][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.57 iterations per second over 30.00 seconds.
+[2026-09-25 00:11:09,674][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003857 s, max step_time: 0.007261 s
+[2026-09-25 00:11:10,455][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.72 Hz
+[2026-09-25 00:11:17,654][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.40 Hz
+[2026-09-25 00:11:20,457][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.65 Hz
+[2026-09-25 00:11:23,246][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003843 s, max step_time: 0.007214 s
+[2026-09-25 00:11:27,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.47 Hz
+[2026-09-25 00:11:30,458][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.36 Hz
+[2026-09-25 00:11:35,431][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.45 iterations per second over 30.00 seconds.
+[2026-09-25 00:11:37,659][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.58 Hz
+[2026-09-25 00:11:38,285][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.12 iterations per second over 30.00 seconds.
+[2026-09-25 00:11:39,676][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003975 s, max step_time: 0.007939 s
+[2026-09-25 00:11:40,460][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.16 Hz
+[2026-09-25 00:11:41,138][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:11:41,138][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:11:47,664][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.80 Hz
+[2026-09-25 00:11:50,464][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.41 Hz
+[2026-09-25 00:11:53,247][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003989 s, max step_time: 0.027796 s
+[2026-09-25 00:11:57,664][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.78 Hz
+[2026-09-25 00:12:00,466][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.13 Hz
+[2026-09-25 00:12:05,437][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.39 iterations per second over 30.01 seconds.
+[2026-09-25 00:12:07,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.90 Hz
+[2026-09-25 00:12:08,286][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.43 iterations per second over 30.00 seconds.
+[2026-09-25 00:12:09,676][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003880 s, max step_time: 0.028112 s
+[2026-09-25 00:12:10,466][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.48 Hz
+[2026-09-25 00:12:17,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.07 Hz
+[2026-09-25 00:12:20,469][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.64 Hz
+[2026-09-25 00:12:23,248][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003852 s, max step_time: 0.009759 s
+[2026-09-25 00:12:27,672][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.42 Hz
+[2026-09-25 00:12:30,469][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.39 Hz
+[2026-09-25 00:12:35,438][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.72 iterations per second over 30.00 seconds.
+[2026-09-25 00:12:37,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.17 Hz
+[2026-09-25 00:12:38,287][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.46 iterations per second over 30.00 seconds.
+[2026-09-25 00:12:39,682][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 36 times, mean step_time: 0.003848 s, max step_time: 0.009250 s
+[2026-09-25 00:12:40,472][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.25 Hz
+[2026-09-25 00:12:47,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.28 Hz
+[2026-09-25 00:12:50,473][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.33 Hz
+[2026-09-25 00:12:53,249][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003845 s, max step_time: 0.009838 s
+[2026-09-25 00:12:57,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.89 Hz
+[2026-09-25 00:13:00,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.65 Hz
+[2026-09-25 00:13:05,439][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.83 iterations per second over 30.00 seconds.
+[2026-09-25 00:13:07,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.21 Hz
+[2026-09-25 00:13:08,288][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.99 iterations per second over 30.00 seconds.
+[2026-09-25 00:13:09,684][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 71 times, mean step_time: 0.003883 s, max step_time: 0.013110 s
+[2026-09-25 00:13:10,477][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.26 Hz
+[2026-09-25 00:13:10,667][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.22 iterations per second over 2.38 seconds.
+[2026-09-25 00:13:10,676][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.36 iterations per second over 5.24 seconds.
+[2026-09-25 00:13:32,877][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 00:13:32,879][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 00:13:32,879][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 00:13:32,879][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 00:13:32,879][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 00:13:32,879][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 00:13:32,879][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 00:13:32,879][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 00:13:32,879][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 00:13:32,880][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 00:13:32,880][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 00:13:32,880][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 00:13:32,881][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 00:13:32,881][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 00:13:32,881][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 00:13:32,881][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:13:32,881][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:13:32,881][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:13:32,881][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 00:13:32,881][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:13:32,882][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:13:32,893][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:13:32,904][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 00:13:32,916][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:13:32,927][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:13:32,938][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:32,949][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:13:32,960][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:13:32,971][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:32,982][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:13:32,993][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:13:33,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:33,015][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:13:33,026][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:13:33,037][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:33,048][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:13:33,059][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:13:33,070][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:33,081][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:13:33,092][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:13:33,103][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:33,114][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:13:33,114][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 00:13:33,114][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:13:33,114][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:13:33,169][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:13:33,224][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:13:33,278][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:13:33,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:13:33,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:13:33,440][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:13:33,494][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:13:33,494][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 00:13:33,494][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:13:33,552][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:13:33,563][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:13:33,568][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:13:33,575][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:13:33,581][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:13:33,587][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:13:33,593][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:13:33,599][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:13:33,605][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 00:13:33,605][root][INFO] - current_pos: [-0.024605172808422893, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.000953688868543523, -0.04863813229571967, 0.01201647974364839]
+[2026-09-25 00:13:33,605][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:13:33,605][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:13:33,706][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.024605172808422893, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790266413.7060184), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790266413.7060184), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1790266413.7060184), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1790266413.7060184), MotorInfo(id=5, 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=1790266413.7060184), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.04863813229571967, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790266413.7060184), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.01201647974364839, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790266413.7060184)]
+[2026-09-25 00:13:33,706][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:13:33,706][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0120
+[2026-09-25 00:13:33,706][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:13:34,329][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695
+[2026-09-25 00:13:34,629][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:13:35,255][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 00:13:35,556][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174639479)
+[2026-09-25 00:13:35,556][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877]
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:13:35,787][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:13:35,787][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:13:35,787][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 00:13:35,787][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:13:35,788][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:13:35,789][root][INFO] - initializing, ....
+[2026-09-25 00:13:35,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:13:35,810][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:35,821][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:13:35,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:13:35,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:35,853][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:13:35,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:13:35,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:35,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:13:35,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:13:35,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:35,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:13:35,928][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:13:35,939][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:35,950][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:13:35,961][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:13:35,971][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:35,982][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:13:35,993][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:13:36,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:13:36,014][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:13:36,014][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 00:13:36,014][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:13:36,015][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:13:36,068][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:13:36,122][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:13:36,177][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
+[2026-09-25 00:13:36,230][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
+[2026-09-25 00:13:36,284][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
+[2026-09-25 00:13:36,337][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
+[2026-09-25 00:13:36,392][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:13:36,392][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 00:13:36,392][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:13:36,392][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:13:36,403][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:13:36,408][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:13:36,414][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:13:36,420][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:13:36,426][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:13:36,432][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:13:36,438][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:13:36,444][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 00:13:36,444][root][INFO] - current_pos: [-0.06580453192950309, 0.0005722133211261138, 0.0005722133211261138, 0.0013351644159609322, -0.022697795071335847, 0.0005722133211261138, 0.024986648355840302]
+[2026-09-25 00:13:36,444][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:13:36,444][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:13:36,544][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.06580453192950309, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790266416.5448194), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.07521367521367495, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790266416.5448194), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1790266416.5448194), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1790266416.5448194), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.022697795071335847, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790266416.5448194), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790266416.5448194), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.024605172808422893, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790266416.5448194)]
+[2026-09-25 00:13:36,545][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:13:36,545][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0246
+[2026-09-25 00:13:36,545][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:13:37,220][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 00:13:37,521][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:13:38,147][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-25 00:13:38,448][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270275425345236, -0.011253528648817124)
+[2026-09-25 00:13:38,448][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27027543 -0.01125353]
+[2026-09-25 00:13:38,573][root][INFO] - initializing, ....
+[2026-09-25 00:13:45,791][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.96 Hz
+[2026-09-25 00:13:48,575][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.18 Hz
+[2026-09-25 00:13:55,794][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.53 Hz
+[2026-09-25 00:13:58,580][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.62 Hz
+[2026-09-25 00:14:03,607][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.15 iterations per second over 30.00 seconds.
+[2026-09-25 00:14:03,607][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003873 s, max step_time: 0.072914 s
+[2026-09-25 00:14:05,796][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.45 Hz
+[2026-09-25 00:14:06,447][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.51 iterations per second over 30.00 seconds.
+[2026-09-25 00:14:06,447][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003944 s, max step_time: 0.073662 s
+[2026-09-25 00:14:06,793][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:14:06,793][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:14:08,582][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.43 Hz
+[2026-09-25 00:14:15,799][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.63 Hz
+[2026-09-25 00:14:18,583][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.76 Hz
+[2026-09-25 00:14:25,799][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.09 Hz
+[2026-09-25 00:14:28,587][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.92 Hz
+[2026-09-25 00:14:33,611][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.80 iterations per second over 30.00 seconds.
+[2026-09-25 00:14:33,611][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003909 s, max step_time: 0.016010 s
+[2026-09-25 00:14:35,799][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.39 Hz
+[2026-09-25 00:14:36,450][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.20 iterations per second over 30.00 seconds.
+[2026-09-25 00:14:36,451][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003888 s, max step_time: 0.015823 s
+[2026-09-25 00:14:38,588][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.04 Hz
+[2026-09-25 00:14:45,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.38 Hz
+[2026-09-25 00:14:48,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.61 Hz
+[2026-09-25 00:14:55,802][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.24 Hz
+[2026-09-25 00:14:58,593][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.17 Hz
+[2026-09-25 00:15:03,613][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.68 iterations per second over 30.00 seconds.
+[2026-09-25 00:15:03,613][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003881 s, max step_time: 0.007613 s
+[2026-09-25 00:15:05,803][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.18 Hz
+[2026-09-25 00:15:06,452][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.39 iterations per second over 30.00 seconds.
+[2026-09-25 00:15:08,596][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.33 Hz
+[2026-09-25 00:15:15,806][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.13 Hz
+[2026-09-25 00:15:18,598][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.35 Hz
+[2026-09-25 00:15:25,805][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.10 Hz
+[2026-09-25 00:15:28,600][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.24 Hz
+[2026-09-25 00:15:33,615][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.78 iterations per second over 30.00 seconds.
+[2026-09-25 00:15:33,615][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003864 s, max step_time: 0.007154 s
+[2026-09-25 00:15:35,809][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.51 Hz
+[2026-09-25 00:15:36,454][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.82 iterations per second over 30.00 seconds.
+[2026-09-25 00:15:38,603][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.24 Hz
+[2026-09-25 00:15:40,750][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003874 s, max step_time: 0.007374 s
+[2026-09-25 00:15:45,812][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.85 Hz
+[2026-09-25 00:15:48,607][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.41 Hz
+[2026-09-25 00:15:55,812][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.38 Hz
+[2026-09-25 00:15:58,609][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.72 Hz
+[2026-09-25 00:15:58,830][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:15:58,830][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:16:03,617][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.25 iterations per second over 30.00 seconds.
+[2026-09-25 00:16:03,617][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004028 s, max step_time: 0.032593 s
+[2026-09-25 00:16:05,812][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.00 Hz
+[2026-09-25 00:16:06,457][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.31 iterations per second over 30.00 seconds.
+[2026-09-25 00:16:08,610][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.58 Hz
+[2026-09-25 00:16:10,754][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004029 s, max step_time: 0.029478 s
+[2026-09-25 00:16:15,814][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.66 Hz
+[2026-09-25 00:16:18,615][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.48 Hz
+[2026-09-25 00:16:25,816][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.35 Hz
+[2026-09-25 00:16:28,616][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.27 Hz
+[2026-09-25 00:16:33,617][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.00 iterations per second over 30.00 seconds.
+[2026-09-25 00:16:33,618][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003876 s, max step_time: 0.007272 s
+[2026-09-25 00:16:35,818][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.23 Hz
+[2026-09-25 00:16:36,458][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.79 iterations per second over 30.00 seconds.
+[2026-09-25 00:16:38,619][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.32 Hz
+[2026-09-25 00:16:40,755][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003880 s, max step_time: 0.007455 s
+[2026-09-25 00:16:45,821][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.33 Hz
+[2026-09-25 00:16:48,620][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.29 Hz
+[2026-09-25 00:16:55,822][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.67 Hz
+[2026-09-25 00:16:58,623][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.50 Hz
+[2026-09-25 00:17:03,619][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.62 iterations per second over 30.00 seconds.
+[2026-09-25 00:17:05,823][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.87 Hz
+[2026-09-25 00:17:06,458][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.36 iterations per second over 30.00 seconds.
+[2026-09-25 00:17:08,624][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.88 Hz
+[2026-09-25 00:17:10,756][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003886 s, max step_time: 0.007666 s
+[2026-09-25 00:17:10,866][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003881 s, max step_time: 0.007112 s
+[2026-09-25 00:17:15,825][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.75 Hz
+[2026-09-25 00:17:18,627][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.11 Hz
+[2026-09-25 00:17:25,829][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.72 Hz
+[2026-09-25 00:17:28,631][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.50 Hz
+[2026-09-25 00:17:33,622][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.15 iterations per second over 30.00 seconds.
+[2026-09-25 00:17:35,832][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.92 Hz
+[2026-09-25 00:17:36,460][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.02 iterations per second over 30.00 seconds.
+[2026-09-25 00:17:38,634][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.64 Hz
+[2026-09-25 00:17:40,760][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 66 times, mean step_time: 0.003950 s, max step_time: 0.014954 s
+[2026-09-25 00:17:40,870][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003949 s, max step_time: 0.014009 s
+[2026-09-25 00:17:45,835][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
+[2026-09-25 00:17:48,638][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.31 Hz
+[2026-09-25 00:17:55,838][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.30 Hz
+[2026-09-25 00:17:58,640][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.54 Hz
+[2026-09-25 00:18:03,622][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.13 iterations per second over 30.00 seconds.
+[2026-09-25 00:18:05,840][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.85 Hz
+[2026-09-25 00:18:06,460][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.06 iterations per second over 30.00 seconds.
+[2026-09-25 00:18:08,643][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.01 Hz
+[2026-09-25 00:18:10,761][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 62 times, mean step_time: 0.003894 s, max step_time: 0.010230 s
+[2026-09-25 00:18:10,873][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003882 s, max step_time: 0.010490 s
+[2026-09-25 00:18:15,841][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.29 Hz
+[2026-09-25 00:18:18,647][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.91 Hz
+[2026-09-25 00:18:25,845][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.71 Hz
+[2026-09-25 00:18:28,650][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.41 Hz
+[2026-09-25 00:18:33,624][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.69 iterations per second over 30.00 seconds.
+[2026-09-25 00:18:35,845][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.98 Hz
+[2026-09-25 00:18:36,463][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.08 iterations per second over 30.00 seconds.
+[2026-09-25 00:18:38,651][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.48 Hz
+[2026-09-25 00:18:40,762][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003874 s, max step_time: 0.012434 s
+[2026-09-25 00:18:40,875][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 54 times, mean step_time: 0.003869 s, max step_time: 0.011458 s
+[2026-09-25 00:18:45,847][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.15 Hz
+[2026-09-25 00:18:48,653][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.65 Hz
+[2026-09-25 00:18:55,847][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.08 Hz
+[2026-09-25 00:18:58,657][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.28 Hz
+[2026-09-25 00:19:03,624][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.33 iterations per second over 30.00 seconds.
+[2026-09-25 00:19:05,852][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.81 Hz
+[2026-09-25 00:19:06,463][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.93 iterations per second over 30.00 seconds.
+[2026-09-25 00:19:08,659][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.86 Hz
+[2026-09-25 00:19:10,764][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 55 times, mean step_time: 0.003871 s, max step_time: 0.014823 s
+[2026-09-25 00:19:10,878][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.003870 s, max step_time: 0.015654 s
+[2026-09-25 00:19:15,853][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.76 Hz
+[2026-09-25 00:19:18,660][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.37 Hz
+[2026-09-25 00:19:25,854][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
+[2026-09-25 00:19:28,661][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.39 Hz
+[2026-09-25 00:19:33,632][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.63 iterations per second over 30.01 seconds.
+[2026-09-25 00:19:35,853][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.29 Hz
+[2026-09-25 00:19:36,464][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.57 iterations per second over 30.00 seconds.
+[2026-09-25 00:19:38,661][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.68 Hz
+[2026-09-25 00:19:40,766][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003908 s, max step_time: 0.013510 s
+[2026-09-25 00:19:40,879][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003912 s, max step_time: 0.011602 s
+[2026-09-25 00:19:45,854][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.89 Hz
+[2026-09-25 00:19:48,664][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.34 Hz
+[2026-09-25 00:19:55,858][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.93 Hz
+[2026-09-25 00:19:58,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.43 Hz
+[2026-09-25 00:20:03,635][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.58 iterations per second over 30.00 seconds.
+[2026-09-25 00:20:05,859][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.85 Hz
+[2026-09-25 00:20:06,465][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.79 iterations per second over 30.00 seconds.
+[2026-09-25 00:20:08,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.29 Hz
+[2026-09-25 00:20:10,766][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003916 s, max step_time: 0.021968 s
+[2026-09-25 00:20:10,882][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003906 s, max step_time: 0.008268 s
+[2026-09-25 00:20:15,861][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.14 Hz
+[2026-09-25 00:20:18,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.59 Hz
+[2026-09-25 00:20:25,865][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.30 Hz
+[2026-09-25 00:20:28,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.50 Hz
+[2026-09-25 00:20:33,637][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.61 iterations per second over 30.00 seconds.
+[2026-09-25 00:20:35,866][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.56 Hz
+[2026-09-25 00:20:36,465][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.77 iterations per second over 30.00 seconds.
+[2026-09-25 00:20:38,670][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.53 Hz
+[2026-09-25 00:20:40,767][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003881 s, max step_time: 0.007233 s
+[2026-09-25 00:20:40,886][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003873 s, max step_time: 0.007241 s
+[2026-09-25 00:20:45,867][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.18 Hz
+[2026-09-25 00:20:48,672][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.03 Hz
+[2026-09-25 00:20:55,867][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.10 Hz
+[2026-09-25 00:20:56,961][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.18 iterations per second over 20.50 seconds.
+[2026-09-25 00:20:56,966][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.91 iterations per second over 23.33 seconds.
+[2026-09-25 00:20:58,565][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 00:20:58,567][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 00:20:58,567][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 00:20:58,567][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 00:20:58,567][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 00:20:58,567][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 00:20:58,567][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 00:20:58,567][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 00:20:58,567][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 00:20:58,568][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 00:20:58,568][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 00:20:58,568][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 00:20:58,568][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 00:20:58,568][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 00:20:58,568][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 00:20:58,568][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:20:58,569][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:20:58,569][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:20:58,569][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 00:20:58,569][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:20:58,570][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:20:58,582][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:20:58,593][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 00:20:58,604][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:20:58,615][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:20:58,626][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:20:58,637][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:20:58,648][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:20:58,659][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:20:58,670][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:20:58,680][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:20:58,691][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:20:58,702][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:20:58,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:20:58,724][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:20:58,735][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:20:58,746][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:20:58,756][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:20:58,767][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:20:58,778][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:20:58,789][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:20:58,800][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:20:58,800][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 00:20:58,800][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:20:58,800][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:20:58,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:20:58,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:20:58,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:20:59,015][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:20:59,069][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:20:59,123][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:20:59,176][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:20:59,177][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 00:20:59,177][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:20:59,177][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:20:59,187][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:20:59,193][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:20:59,199][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:20:59,205][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:20:59,211][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:20:59,217][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:20:59,223][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:20:59,229][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 00:20:59,229][root][INFO] - current_pos: [-0.024605172808422893, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, -0.0001907377737087046, -0.055886167696650446, 0.01583123521782248]
+[2026-09-25 00:20:59,229][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:20:59,229][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:20:59,330][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.024605172808422893, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790266859.3299835), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790266859.3299835), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790266859.3299835), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1790266859.3299835), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790266859.3299835), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.055886167696650446, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790266859.3299835), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790266859.3299835)]
+[2026-09-25 00:20:59,330][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:20:59,330][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0154
+[2026-09-25 00:20:59,330][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:21:00,009][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695
+[2026-09-25 00:21:00,310][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:21:00,922][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 00:21:01,223][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032)
+[2026-09-25 00:21:01,223][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877]
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:21:01,459][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:21:01,459][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:21:01,459][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 00:21:01,459][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:21:01,460][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:21:01,461][root][INFO] - initializing, ....
+[2026-09-25 00:21:01,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:21:01,481][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:21:01,492][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:21:01,503][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:21:01,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:21:01,524][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:21:01,535][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:21:01,546][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:21:01,557][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:21:01,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:21:01,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:21:01,589][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:21:01,600][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:21:01,611][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:21:01,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:21:01,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:21:01,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:21:01,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:21:01,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:21:01,677][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:21:01,688][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:21:01,688][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 00:21:01,688][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:21:01,689][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:21:01,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:21:01,800][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:21:01,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:21:01,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:21:01,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:21:02,015][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:21:02,069][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:21:02,069][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 00:21:02,069][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:21:02,069][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:21:02,080][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:21:02,085][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:21:02,092][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:21:02,098][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:21:02,104][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:21:02,110][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:21:02,116][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:21:02,123][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 00:21:02,123][root][INFO] - current_pos: [0.0165941863126573, -0.0020981155107957505, 0.000953688868543523, 0.0001907377737087046, -0.023079270618753256, -0.11158159761959219, 0.7394903486686495]
+[2026-09-25 00:21:02,123][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:21:02,123][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:21:02,224][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.02051282051282044, pos=0.0165941863126573, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790266862.2239435), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790266862.2239435), 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=33.0, timestamp=1790266862.2239435), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1790266862.2239435), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.023079270618753256, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790266862.2239435), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.11158159761959219, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790266862.2239435), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.7394903486686495, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790266862.2239435)]
+[2026-09-25 00:21:02,224][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:21:02,224][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.7395
+[2026-09-25 00:21:02,224][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:21:02,840][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 00:21:03,140][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:21:03,754][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-25 00:21:04,054][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2603570611123835, -0.011253528648813571)
+[2026-09-25 00:21:04,055][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26035706 -0.01125353]
+[2026-09-25 00:21:04,185][root][INFO] - initializing, ....
+[2026-09-25 00:21:11,463][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.63 Hz
+[2026-09-25 00:21:14,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.72 Hz
+[2026-09-25 00:21:21,467][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.62 Hz
+[2026-09-25 00:21:24,189][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.00 Hz
+[2026-09-25 00:21:26,147][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:21:26,147][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:21:29,232][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.54 iterations per second over 30.00 seconds.
+[2026-09-25 00:21:29,232][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003882 s, max step_time: 0.064956 s
+[2026-09-25 00:21:31,468][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.57 Hz
+[2026-09-25 00:21:32,126][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.28 iterations per second over 30.00 seconds.
+[2026-09-25 00:21:32,126][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003932 s, max step_time: 0.063652 s
+[2026-09-25 00:21:34,191][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.84 Hz
+[2026-09-25 00:21:41,470][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.32 Hz
+[2026-09-25 00:21:44,191][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.09 Hz
+[2026-09-25 00:21:51,472][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.27 Hz
+[2026-09-25 00:21:54,193][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.78 Hz
+[2026-09-25 00:21:59,233][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 266.39 iterations per second over 30.00 seconds.
+[2026-09-25 00:21:59,233][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003754 s, max step_time: 0.007116 s
+[2026-09-25 00:22:01,473][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.36 Hz
+[2026-09-25 00:22:02,127][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 266.89 iterations per second over 30.00 seconds.
+[2026-09-25 00:22:02,127][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003747 s, max step_time: 0.007134 s
+[2026-09-25 00:22:04,195][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.24 Hz
+[2026-09-25 00:22:11,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.46 Hz
+[2026-09-25 00:22:14,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.92 Hz
+[2026-09-25 00:22:21,477][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.02 Hz
+[2026-09-25 00:22:24,199][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.19 Hz
+[2026-09-25 00:22:29,237][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 268.60 iterations per second over 30.00 seconds.
+[2026-09-25 00:22:31,480][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.95 Hz
+[2026-09-25 00:22:32,129][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.88 iterations per second over 30.00 seconds.
+[2026-09-25 00:22:34,201][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.03 Hz
+[2026-09-25 00:22:41,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.04 Hz
+[2026-09-25 00:22:44,204][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.43 Hz
+[2026-09-25 00:22:51,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.79 Hz
+[2026-09-25 00:22:54,205][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.78 Hz
+[2026-09-25 00:22:59,239][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.05 iterations per second over 30.00 seconds.
+[2026-09-25 00:23:01,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.60 Hz
+[2026-09-25 00:23:02,130][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.55 iterations per second over 30.00 seconds.
+[2026-09-25 00:23:04,207][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.14 Hz
+[2026-09-25 00:23:11,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.72 Hz
+[2026-09-25 00:23:14,208][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.74 Hz
+[2026-09-25 00:23:21,488][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 267.43 Hz
+[2026-09-25 00:23:24,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.03 Hz
+[2026-09-25 00:23:29,241][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 268.82 iterations per second over 30.00 seconds.
+[2026-09-25 00:23:31,489][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.76 Hz
+[2026-09-25 00:23:32,132][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.75 iterations per second over 30.00 seconds.
+[2026-09-25 00:23:34,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.76 Hz
+[2026-09-25 00:23:34,332][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003722 s, max step_time: 0.007126 s
+[2026-09-25 00:23:41,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.94 Hz
+[2026-09-25 00:23:44,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.36 Hz
+[2026-09-25 00:23:51,492][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.59 Hz
+[2026-09-25 00:23:54,215][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.38 Hz
+[2026-09-25 00:23:59,241][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 267.20 iterations per second over 30.00 seconds.
+[2026-09-25 00:24:01,493][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.17 Hz
+[2026-09-25 00:24:02,134][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 265.65 iterations per second over 30.00 seconds.
+[2026-09-25 00:24:03,363][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 278.25 iterations per second over 1.23 seconds.
+[2026-09-25 00:24:03,371][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.27 iterations per second over 4.13 seconds.
+[2026-09-25 00:24:05,195][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 00:24:05,196][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 00:24:05,196][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 00:24:05,197][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 00:24:05,197][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 00:24:05,197][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 00:24:05,197][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 00:24:05,197][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 00:24:05,197][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 00:24:05,198][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 00:24:05,198][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 00:24:05,198][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 00:24:05,198][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 00:24:05,198][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 00:24:05,198][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 00:24:05,198][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 00:24:05,198][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:24:05,198][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:24:05,199][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:24:05,199][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:24:05,199][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:24:05,199][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:24:05,199][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:24:05,199][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:24:05,199][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:24:05,199][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:24:05,199][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:24:05,199][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:24:05,199][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 00:24:05,199][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:24:05,200][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:24:05,212][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:24:05,223][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 00:24:05,234][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:24:05,245][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:24:05,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:05,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:24:05,278][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:24:05,289][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:05,300][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:24:05,311][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:24:05,322][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:05,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:24:05,343][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:24:05,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:05,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:24:05,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:24:05,387][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:05,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:24:05,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:24:05,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:05,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:24:05,430][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-25 00:24:05,430][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:24:05,430][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:24:05,484][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:24:05,538][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:24:05,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:24:05,646][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:24:05,700][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:24:05,754][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:24:05,808][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
+[2026-09-25 00:24:05,808][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)
+[2026-09-25 00:24:05,809][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:24:05,809][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:24:05,819][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:24:05,824][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:24:05,831][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:24:05,837][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:24:05,843][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:24:05,850][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:24:05,856][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:24:05,864][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-25 00:24:05,864][root][INFO] - current_pos: [-0.024605172808422893, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.000953688868543523, -0.06008239871824195, 0.01583123521782248]
+[2026-09-25 00:24:05,864][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:24:05,864][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:24:05,964][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.024605172808422893, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790267045.9647307), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790267045.9647307), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1790267045.9647307), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1790267045.9647307), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790267045.9647307), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.06008239871824195, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790267045.9647307), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790267045.9647307)]
+[2026-09-25 00:24:05,964][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:24:05,964][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-25 00:24:05,965][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:24:06,644][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2684
+[2026-09-25 00:24:06,944][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:24:07,569][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 00:24:07,869][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.268368047608149, -0.007438773174643032)
+[2026-09-25 00:24:07,869][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26836805 -0.00743877]
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:24:08,112][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:24:08,112][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:24:08,112][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 00:24:08,112][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:24:08,112][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:24:08,113][root][INFO] - initializing, ....
+[2026-09-25 00:24:08,124][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:24:08,135][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:08,146][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:24:08,157][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:24:08,168][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:08,179][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:24:08,190][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:24:08,201][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:08,212][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:24:08,224][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:24:08,235][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:08,246][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:24:08,257][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:24:08,269][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:08,280][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:24:08,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:24:08,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:08,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:24:08,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:24:08,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:24:08,346][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:24:08,346][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 00:24:08,346][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:24:08,347][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:24:08,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:24:08,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:24:08,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:24:08,569][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:24:08,625][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:24:08,680][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:24:08,735][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:24:08,735][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)
+[2026-09-25 00:24:08,735][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:24:08,735][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:24:08,747][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:24:08,752][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:24:08,759][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:24:08,766][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:24:08,775][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:24:08,781][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:24:08,787][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:24:08,794][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 00:24:08,794][root][INFO] - current_pos: [0.14286259250781974, -0.0020981155107957505, 0.0005722133211261138, 0.000953688868543523, -0.0036240177004653873, -0.06008239871824195, 0.006294346532387252]
+[2026-09-25 00:24:08,794][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:24:08,794][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:24:08,895][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=0.14286259250781974, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790267048.8954983), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.07521367521367495, pos=-0.0020981155107957505, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1790267048.8954983), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1790267048.8954983), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790267048.8954983), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.004005493247879244, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790267048.8954983), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06008239871824195, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790267048.8954983), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.006294346532387252, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790267048.8954983)]
+[2026-09-25 00:24:08,895][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:24:08,895][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063
+[2026-09-25 00:24:08,895][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:24:09,574][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 00:24:09,875][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:24:10,498][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-25 00:24:10,798][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011253528648817124)
+[2026-09-25 00:24:10,799][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01125353]
+[2026-09-25 00:24:10,929][root][INFO] - initializing, ....
+[2026-09-25 00:24:18,114][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.20 Hz
+[2026-09-25 00:24:20,932][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.57 Hz
+[2026-09-25 00:24:28,116][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.76 Hz
+[2026-09-25 00:24:30,935][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.03 Hz
+[2026-09-25 00:24:35,866][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.85 iterations per second over 30.00 seconds.
+[2026-09-25 00:24:35,867][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003908 s, max step_time: 0.074893 s
+[2026-09-25 00:24:37,155][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:24:37,155][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:24:38,117][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.98 Hz
+[2026-09-25 00:24:38,798][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.37 iterations per second over 30.00 seconds.
+[2026-09-25 00:24:38,798][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003962 s, max step_time: 0.069644 s
+[2026-09-25 00:24:40,934][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.20 Hz
+[2026-09-25 00:24:48,117][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.09 Hz
+[2026-09-25 00:24:50,938][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.60 Hz
+[2026-09-25 00:24:58,119][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.17 Hz
+[2026-09-25 00:25:00,940][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.65 Hz
+[2026-09-25 00:25:05,869][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.15 iterations per second over 30.00 seconds.
+[2026-09-25 00:25:05,869][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003874 s, max step_time: 0.022985 s
+[2026-09-25 00:25:08,118][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.69 Hz
+[2026-09-25 00:25:08,799][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.29 iterations per second over 30.00 seconds.
+[2026-09-25 00:25:10,941][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
+[2026-09-25 00:25:17,460][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003857 s, max step_time: 0.007680 s
+[2026-09-25 00:25:18,121][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.13 Hz
+[2026-09-25 00:25:20,944][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.34 Hz
+[2026-09-25 00:25:28,121][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.69 Hz
+[2026-09-25 00:25:30,947][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.34 Hz
+[2026-09-25 00:25:34,008][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:25:34,009][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:25:35,872][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.61 iterations per second over 30.00 seconds.
+[2026-09-25 00:25:35,872][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003990 s, max step_time: 0.023598 s
+[2026-09-25 00:25:38,123][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.78 Hz
+[2026-09-25 00:25:38,800][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.19 iterations per second over 30.00 seconds.
+[2026-09-25 00:25:40,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.40 Hz
+[2026-09-25 00:25:47,461][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004002 s, max step_time: 0.032981 s
+[2026-09-25 00:25:48,123][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.40 Hz
+[2026-09-25 00:25:50,955][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.20 Hz
+[2026-09-25 00:25:58,125][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.53 Hz
+[2026-09-25 00:26:00,955][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.29 Hz
+[2026-09-25 00:26:05,875][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.70 iterations per second over 30.00 seconds.
+[2026-09-25 00:26:05,875][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003896 s, max step_time: 0.007992 s
+[2026-09-25 00:26:08,127][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.35 Hz
+[2026-09-25 00:26:08,803][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.77 iterations per second over 30.00 seconds.
+[2026-09-25 00:26:10,957][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.36 Hz
+[2026-09-25 00:26:17,462][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003893 s, max step_time: 0.007050 s
+[2026-09-25 00:26:18,129][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.67 Hz
+[2026-09-25 00:26:20,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.74 Hz
+[2026-09-25 00:26:28,131][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.84 Hz
+[2026-09-25 00:26:30,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.76 Hz
+[2026-09-25 00:26:35,876][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.72 iterations per second over 30.00 seconds.
+[2026-09-25 00:26:35,876][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003865 s, max step_time: 0.007058 s
+[2026-09-25 00:26:38,135][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.50 Hz
+[2026-09-25 00:26:38,806][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.04 iterations per second over 30.00 seconds.
+[2026-09-25 00:26:40,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.64 Hz
+[2026-09-25 00:26:47,463][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003876 s, max step_time: 0.007465 s
+[2026-09-25 00:26:48,138][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.12 Hz
+[2026-09-25 00:26:50,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.48 Hz
+[2026-09-25 00:26:58,140][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.95 Hz
+[2026-09-25 00:27:00,965][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.60 Hz
+[2026-09-25 00:27:02,915][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:27:02,916][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:27:05,877][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.19 iterations per second over 30.00 seconds.
+[2026-09-25 00:27:05,877][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003965 s, max step_time: 0.026917 s
+[2026-09-25 00:27:08,141][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.67 Hz
+[2026-09-25 00:27:08,808][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.45 iterations per second over 30.00 seconds.
+[2026-09-25 00:27:10,965][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.71 Hz
+[2026-09-25 00:27:17,465][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003956 s, max step_time: 0.025618 s
+[2026-09-25 00:27:18,143][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.14 Hz
+[2026-09-25 00:27:20,968][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.98 Hz
+[2026-09-25 00:27:28,145][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.44 Hz
+[2026-09-25 00:27:30,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.68 Hz
+[2026-09-25 00:27:35,877][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.73 iterations per second over 30.00 seconds.
+[2026-09-25 00:27:35,919][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003855 s, max step_time: 0.044995 s
+[2026-09-25 00:27:38,149][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.62 Hz
+[2026-09-25 00:27:38,811][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.31 iterations per second over 30.00 seconds.
+[2026-09-25 00:27:40,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.02 Hz
+[2026-09-25 00:27:47,465][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003860 s, max step_time: 0.007383 s
+[2026-09-25 00:27:48,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.75 Hz
+[2026-09-25 00:27:50,974][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.13 Hz
+[2026-09-25 00:27:58,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.74 Hz
+[2026-09-25 00:28:00,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.94 Hz
+[2026-09-25 00:28:05,878][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.36 iterations per second over 30.00 seconds.
+[2026-09-25 00:28:05,919][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003926 s, max step_time: 0.016343 s
+[2026-09-25 00:28:08,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.72 Hz
+[2026-09-25 00:28:08,814][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.08 iterations per second over 30.00 seconds.
+[2026-09-25 00:28:10,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.66 Hz
+[2026-09-25 00:28:14,219][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.79 iterations per second over 5.41 seconds.
+[2026-09-25 00:28:14,228][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.43 iterations per second over 8.35 seconds.
+[2026-09-25 00:28:16,217][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-25 00:28:16,218][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-25 00:28:16,218][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-25 00:28:16,218][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-25 00:28:16,218][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-25 00:28:16,218][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-25 00:28:16,218][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-25 00:28:16,218][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-25 00:28:16,219][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-25 00:28:16,219][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-25 00:28:16,219][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-25 00:28:16,219][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-25 00:28:16,219][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-25 00:28:16,220][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-25 00:28:16,220][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-25 00:28:16,220][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:28:16,220][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:28:16,220][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:28:16,220][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-25 00:28:16,220][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:28:16,221][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:28:16,233][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:28:16,244][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-25 00:28:16,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:28:16,267][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:28:16,278][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:16,289][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:28:16,301][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:28:16,312][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:16,323][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:28:16,334][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:28:16,345][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:16,356][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:28:16,367][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:28:16,378][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:16,389][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:28:16,400][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:28:16,411][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:16,423][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:28:16,434][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:28:16,445][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:16,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:28:16,456][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s))
+[2026-09-25 00:28:16,456][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:28:16,456][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:28:16,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:28:16,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:28:16,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:28:16,678][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:28:16,734][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:28:16,789][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:28:16,844][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:28:16,844][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 00:28:16,845][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:28:16,845][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:28:16,856][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:28:16,861][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:28:16,868][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:28:16,874][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:28:16,880][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:28:16,886][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:28:16,893][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:28:16,900][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 00:28:16,900][root][INFO] - current_pos: [-0.024605172808422893, -0.000953688868543523, 0.0024795910582131597, 0.0013351644159609322, 0.000953688868543523, -0.06008239871824195, 0.015449759670405072]
+[2026-09-25 00:28:16,900][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:28:16,900][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:28:17,001][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.024605172808422893, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1790267297.0011313), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790267297.0011313), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1790267297.0011313), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=40.0, timestamp=1790267297.0011313), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1790267297.0011313), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.06008239871824195, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790267297.0011313), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1790267297.0011313)]
+[2026-09-25 00:28:17,001][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:28:17,001][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0154
+[2026-09-25 00:28:17,001][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:28:17,683][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695
+[2026-09-25 00:28:17,984][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:28:18,611][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-25 00:28:18,911][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032)
+[2026-09-25 00:28:18,911][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877]
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-25 00:28:19,152][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-25 00:28:19,152][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-25 00:28:19,152][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-25 00:28:19,152][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:28:19,153][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:28:19,153][root][INFO] - initializing, ....
+[2026-09-25 00:28:19,164][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-25 00:28:19,175][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:19,186][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:28:19,197][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-25 00:28:19,207][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:19,218][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:28:19,229][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-25 00:28:19,240][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:19,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-25 00:28:19,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-25 00:28:19,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:19,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:28:19,294][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-25 00:28:19,305][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:19,315][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:28:19,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-25 00:28:19,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:19,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:28:19,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-25 00:28:19,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-25 00:28:19,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-25 00:28:19,380][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-25 00:28:19,380][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-25 00:28:19,380][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:28:19,434][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:28:19,487][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:28:19,541][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-25 00:28:19,595][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:28:19,648][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:28:19,702][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:28:19,756][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-25 00:28:19,756][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-25 00:28:19,756][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-25 00:28:19,756][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-25 00:28:19,767][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-25 00:28:19,772][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-25 00:28:19,778][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-25 00:28:19,784][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-25 00:28:19,789][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-25 00:28:19,796][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-25 00:28:19,802][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-25 00:28:19,808][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-25 00:28:19,808][root][INFO] - current_pos: [0.01201647974364839, -0.0020981155107957505, 0.000953688868543523, 0.0017166399633783413, 0.002861066605630569, 0.042153047989623715, 0.006294346532387252]
+[2026-09-25 00:28:19,808][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-25 00:28:19,808][root][INFO] - starting separate thread for control loop
+[2026-09-25 00:28:19,908][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=0.01201647974364839, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1790267299.9085245), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1790267299.9085245), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1790267299.9085245), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1790267299.9085245), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.002861066605630569, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1790267299.9085245), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.042153047989623715, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1790267299.9085245), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.006294346532387252, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1790267299.9085245)]
+[2026-09-25 00:28:19,908][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-25 00:28:19,908][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063
+[2026-09-25 00:28:19,908][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-25 00:28:20,576][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2550
+[2026-09-25 00:28:20,877][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-25 00:28:21,491][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-25 00:28:21,791][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011253528648813571)
+[2026-09-25 00:28:21,791][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01125353]
+[2026-09-25 00:28:21,929][root][INFO] - initializing, ....
+[2026-09-25 00:28:29,159][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.10 Hz
+[2026-09-25 00:28:31,938][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.38 Hz
+[2026-09-25 00:28:39,161][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.42 Hz
+[2026-09-25 00:28:41,939][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.59 Hz
+[2026-09-25 00:28:46,904][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.10 iterations per second over 30.00 seconds.
+[2026-09-25 00:28:46,904][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003966 s, max step_time: 0.065855 s
+[2026-09-25 00:28:47,073][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:28:47,073][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-25 00:28:49,164][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.24 Hz
+[2026-09-25 00:28:49,809][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.09 iterations per second over 30.00 seconds.
+[2026-09-25 00:28:49,809][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.004014 s, max step_time: 0.064616 s
+[2026-09-25 00:28:50,108][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.59 iterations per second over 0.30 seconds.
+[2026-09-25 00:28:50,113][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.37 iterations per second over 3.21 seconds.
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/rounds.json b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/rounds.json
new file mode 100644
index 0000000000000000000000000000000000000000..68e8bb713c602aac427dbf92180e1e26102e3a95
--- /dev/null
+++ b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/rounds.json
@@ -0,0 +1,167 @@
+{
+  "rounds": [
+    {
+      "actions_sent": 529,
+      "chunks": 17,
+      "data_saved": true,
+      "operator_result": "success",
+      "operator_stopped": true,
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0002",
+      "reviewed_at_ns": 1790264231839727410,
+      "round_number": 2,
+      "status": "completed",
+      "task_success": true,
+      "termination_reason": "operator_review"
+    },
+    {
+      "actions_sent": 390,
+      "chunks": 13,
+      "data_saved": true,
+      "operator_result": "success",
+      "operator_stopped": true,
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0003",
+      "reviewed_at_ns": 1790264335977439665,
+      "round_number": 3,
+      "status": "completed",
+      "task_success": true,
+      "termination_reason": "operator_review"
+    },
+    {
+      "actions_sent": 309,
+      "chunks": 10,
+      "data_saved": true,
+      "operator_result": "success",
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0004",
+      "reviewed_at_ns": 1790264440748836100,
+      "round_number": 4,
+      "status": "failed",
+      "task_success": true
+    },
+    {
+      "actions_sent": 586,
+      "chunks": 19,
+      "data_saved": true,
+      "operator_result": "failure",
+      "operator_stopped": true,
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0005",
+      "reviewed_at_ns": 1790264561509077699,
+      "round_number": 5,
+      "status": "completed",
+      "task_success": false,
+      "termination_reason": "operator_review"
+    },
+    {
+      "actions_sent": 512,
+      "chunks": 17,
+      "data_saved": true,
+      "operator_result": "success",
+      "operator_stopped": true,
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0006",
+      "reviewed_at_ns": 1790264643912426433,
+      "round_number": 6,
+      "status": "completed",
+      "task_success": true,
+      "termination_reason": "operator_review"
+    },
+    {
+      "actions_sent": 319,
+      "chunks": 10,
+      "data_saved": true,
+      "operator_result": "success",
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0007",
+      "reviewed_at_ns": 1790264687848320470,
+      "round_number": 7,
+      "status": "failed",
+      "task_success": true
+    },
+    {
+      "actions_sent": 450,
+      "chunks": 15,
+      "data_saved": true,
+      "operator_result": "success",
+      "operator_stopped": true,
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0012",
+      "reviewed_at_ns": 1790265973281159110,
+      "round_number": 12,
+      "status": "completed",
+      "task_success": true,
+      "termination_reason": "operator_review"
+    },
+    {
+      "actions_sent": 488,
+      "chunks": 16,
+      "data_saved": true,
+      "operator_result": "success",
+      "operator_stopped": true,
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0014",
+      "reviewed_at_ns": 1790266226446753626,
+      "round_number": 14,
+      "status": "completed",
+      "task_success": true,
+      "termination_reason": "operator_review"
+    },
+    {
+      "actions_sent": 514,
+      "chunks": 17,
+      "data_saved": true,
+      "operator_result": "success",
+      "operator_stopped": true,
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0015",
+      "reviewed_at_ns": 1790266301140833272,
+      "round_number": 15,
+      "status": "completed",
+      "task_success": true,
+      "termination_reason": "operator_review"
+    },
+    {
+      "actions_sent": 399,
+      "chunks": 13,
+      "data_saved": true,
+      "operator_result": "failure",
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0019",
+      "reviewed_at_ns": 1790266646748433891,
+      "round_number": 19,
+      "status": "failed",
+      "task_success": false
+    },
+    {
+      "actions_sent": 501,
+      "chunks": 16,
+      "data_saved": true,
+      "operator_result": "success",
+      "operator_stopped": true,
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0022",
+      "reviewed_at_ns": 1790267134017411973,
+      "round_number": 22,
+      "status": "completed",
+      "task_success": true,
+      "termination_reason": "operator_review"
+    },
+    {
+      "actions_sent": 433,
+      "chunks": 14,
+      "data_saved": true,
+      "operator_result": "success",
+      "operator_stopped": true,
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0023",
+      "reviewed_at_ns": 1790267222922869931,
+      "round_number": 23,
+      "status": "completed",
+      "task_success": true,
+      "termination_reason": "operator_review"
+    },
+    {
+      "actions_sent": 452,
+      "chunks": 15,
+      "data_saved": true,
+      "operator_result": "success",
+      "operator_stopped": true,
+      "output_dir": "outputs/openpi_rollout/pi0_v4_from_v3_20eps_19999/put_baozi/data/round_0025",
+      "reviewed_at_ns": 1790267327073225714,
+      "round_number": 25,
+      "status": "completed",
+      "task_success": true,
+      "termination_reason": "operator_review"
+    }
+  ]
+}
diff --git a/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/runtime/output.lock b/eval/YAM/V3/pi0_dualsim_v3_four_tasks/put_baozi/metadata/runtime/output.lock
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391