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b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/data/round_0006/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/data/round_0006/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/pi0_20eps_20000/catch_and_place/data/round_0006/robot/robot_state_dict.pkl b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/data/round_0006/robot/robot_state_dict.pkl new file mode 100644 index 0000000000000000000000000000000000000000..d117b9819e7f42f0b57993cde2f26dd5df7b2ffc --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/data/round_0006/robot/robot_state_dict.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81053cc1ceffbb5f9f7d3dde5019615312a9ec0c223c3fed7184f7061e71b022 +size 715888 diff --git a/eval/YAM/V2/pi0_20eps_20000/catch_and_place/data/round_0006/workflow_manifest.json 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b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/data/round_0009/workflow_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e0195d7a1844936082b2f0b97a8448f82b453881 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/data/round_0009/workflow_manifest.json @@ -0,0 +1,1610 @@ +{ + "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 + ], + "actions_sent": 276, + "async_execution": { + "blend_steps": 5, + "chunk_counter_meaning": "completed groups of 30 acknowledged targets", + "expired_prefix_actions": 69, + "mode": "async_overlap", + "plans_adopted": 17, + "prediction_horizon": 30, + "predictions_requested": 17, + "prefetch_steps": 12, + "queue_underruns": 0, + "target_budget": 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File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_handover.py\", line 182, in await_operator\n check() # Includes live hold heartbeat until direct teaching is confirmed.\n ^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 412, in check\n check_policy_control(hardware.robot_driver._policy_control)\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 169, in check_policy_control\n control.check()\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/nodes/robots/yam_policy_control.py\", line 141, in check\n raise RuntimeError(self.fault)\nRuntimeError: position limit exceeded at indices [13]: positions=[0.09606249547920429], bounds=[[0.0, 0.096]]; source=measured_feedback, mode=drag\n", + "hardware_at_failure": { + "details": { + "cleanup_errors": [], + "robot_client": { + "action_space": "abs_qpos", + "closed": false, + "command_source": 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in run_from_config\n decision = await_operator(control, preview, check, run, manifest, save_handover)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_handover.py\", line 182, in await_operator\n check() # Includes live hold heartbeat until direct teaching is confirmed.\n ^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 412, in check\n check_policy_control(hardware.robot_driver._policy_control)\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 169, in check_policy_control\n control.check()\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/nodes/robots/yam_policy_control.py\", line 141, in check\n raise RuntimeError(self.fault)\nRuntimeError: position limit exceeded at indices [13]: positions=[0.09604156144021929], bounds=[[0.0, 0.096]]; 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outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the right arm to pick up the spatula, hand it over to the left arm, + and place it in the frying pan. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83993ac1d7201c7173452a06cfdd488c445902c5 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Use the right arm to pick up the spatula, hand it over to the + left arm, and place it in the frying pan." + - run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place + 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 spatula, hand it over to the left arm, and place + it in the frying pan.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place,run.steps=40 + id: ??? + num: ??? + config_name: openpi_pi0_v2_v3_20eps_20000 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5f6cc360ea47f2e466460635d39635399e2f9444 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/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 spatula, hand it over to the left + arm, and place it in the frying pan." +- run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place diff --git a/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..58b9aff298a9d7bf377caa43b3b1c2606f463044 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/hydra/openpi_rollout.log @@ -0,0 +1,1028 @@ +[2026-09-20 19:32:26,933][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:32:26,935][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:32:26,935][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:32:26,935][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:32:26,935][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:32:26,935][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:32:26,935][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:32:26,935][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:32:26,935][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:32:26,936][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:32:26,936][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:32:26,936][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:32:26,936][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:32:26,936][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:32:26,936][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:32:26,936][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:32:26,937][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:32:26,937][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:32:26,937][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:32:26,937][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:32:26,938][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:32:26,950][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:32:26,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:32:26,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:32:26,984][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:32:26,995][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:27,006][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:32:27,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:32:27,028][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:27,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:32:27,050][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:32:27,061][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:27,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:32:27,084][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:32:27,095][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:27,107][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:32:27,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:32:27,128][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:27,139][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:32:27,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:32:27,161][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:27,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:32:27,172][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-20 19:32:27,172][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:32:27,173][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:32:27,227][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:32:27,280][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:32:27,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:32:27,389][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:32:27,443][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:32:27,497][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:32:27,551][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:32:27,551][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:32:27,551][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:32:27,551][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:32:27,562][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:32:27,567][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:32:27,573][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:32:27,579][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:32:27,585][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:32:27,591][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:32:27,597][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:32:27,603][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=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:32:27,603][root][INFO] - current_pos: [-0.03032730601968403, -0.0001907377737087046, 0.0024795910582131597, 0.0005722133211261138, 0.0017166399633783413, -0.16536964980544688, -0.0001907377737087046] +[2026-09-20 19:32:27,603][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:32:27,603][root][INFO] - starting separate thread for control loop +[2026-09-20 19:32:27,703][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=-0.03032730601968403, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789903947.703924), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0005722133211296665, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789903947.703924), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789903947.703924), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789903947.703924), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789903947.703924), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.16498817425802592, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903947.703924), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.0005722133211296665, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903947.703924)] +[2026-09-20 19:32:27,704][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:32:27,704][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006 +[2026-09-20 19:32:27,704][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:32:28,325][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 19:32:28,625][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:32:29,253][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:32:29,554][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.271038376440071, -0.00705729762722207) +[2026-09-20 19:32:29,554][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27103838 -0.0070573 ] +[2026-09-20 19:32:29,789][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:32:29,790][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:32:29,790][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:32:29,790][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:32:29,790][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:32:29,790][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:32:29,790][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:32:29,790][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:32:29,790][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:32:29,790][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:32:29,790][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:32:29,790][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:32:29,790][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:32:29,790][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:32:29,790][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:32:29,792][root][INFO] - initializing, .... +[2026-09-20 19:32:29,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:32:29,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:29,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:32:29,833][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:32:29,844][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:29,855][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:32:29,866][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:32:29,876][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:29,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:32:29,898][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:32:29,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:29,919][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:32:29,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:32:29,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:29,952][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:32:29,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:32:29,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:29,984][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:32:29,994][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:32:30,005][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:32:30,016][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:32:30,016][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:32:30,016][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:32:30,016][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:32:30,070][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:32:30,124][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:32:30,177][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:32:30,231][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:32:30,284][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:32:30,338][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:32:30,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:32:30,391][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:32:30,392][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:32:30,392][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:32:30,402][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:32:30,407][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:32:30,413][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:32:30,419][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:32:30,425][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:32:30,431][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:32:30,437][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:32:30,443][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, 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=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 19:32:30,443][root][INFO] - current_pos: [0.019264515144579164, -0.0020981155107957505, 0.05779354543373749, -0.13065537499046265, -0.0001907377737087046, -0.08564126039520836, -0.000953688868543523] +[2026-09-20 19:32:30,443][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:32:30,443][root][INFO] - starting separate thread for control loop +[2026-09-20 19:32:30,544][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=0.019264515144579164, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789903950.5441442), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789903950.5441442), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=0.05779354543373749, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789903950.5441442), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.13065537499046265, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789903950.5441442), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.00019073777370515188, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789903950.5441442), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.08602273594262932, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903950.5441442), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789903950.5441442)] +[2026-09-20 19:32:30,544][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:32:30,544][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-20 19:32:30,544][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:32:31,167][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:32:31,467][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:32:32,098][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:32:32,398][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.259975585564966, -0.011253528648813571) +[2026-09-20 19:32:32,398][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25997559 -0.01125353] +[2026-09-20 19:32:32,524][root][INFO] - initializing, .... +[2026-09-20 19:32:39,794][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.84 Hz +[2026-09-20 19:32:42,527][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.55 Hz +[2026-09-20 19:32:49,634][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:32:49,634][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:32:49,797][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.24 Hz +[2026-09-20 19:32:52,526][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.89 Hz +[2026-09-20 19:32:57,604][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.09 iterations per second over 30.00 seconds. +[2026-09-20 19:32:57,605][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 37 times, mean step_time: 0.003951 s, max step_time: 0.066327 s +[2026-09-20 19:32:59,798][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.07 Hz +[2026-09-20 19:33:00,445][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.36 iterations per second over 30.00 seconds. +[2026-09-20 19:33:00,445][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003994 s, max step_time: 0.073812 s +[2026-09-20 19:33:02,529][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.14 Hz +[2026-09-20 19:33:09,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.54 Hz +[2026-09-20 19:33:12,531][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.03 Hz +[2026-09-20 19:33:19,804][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.94 Hz +[2026-09-20 19:33:22,531][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.39 Hz +[2026-09-20 19:33:27,607][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.14 iterations per second over 30.00 seconds. +[2026-09-20 19:33:27,607][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003966 s, max step_time: 0.008327 s +[2026-09-20 19:33:29,803][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.27 Hz +[2026-09-20 19:33:30,448][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.61 iterations per second over 30.00 seconds. +[2026-09-20 19:33:30,448][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003974 s, max step_time: 0.008535 s +[2026-09-20 19:33:32,535][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.52 Hz +[2026-09-20 19:33:38,561][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:33:38,561][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:33:39,804][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.57 Hz +[2026-09-20 19:33:42,539][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.23 Hz +[2026-09-20 19:33:49,805][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.88 Hz +[2026-09-20 19:33:52,540][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.85 Hz +[2026-09-20 19:33:57,609][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.52 iterations per second over 30.00 seconds. +[2026-09-20 19:33:57,609][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004024 s, max step_time: 0.039216 s +[2026-09-20 19:33:59,806][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.78 Hz +[2026-09-20 19:34:00,448][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.09 iterations per second over 30.00 seconds. +[2026-09-20 19:34:00,449][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004047 s, max step_time: 0.022628 s +[2026-09-20 19:34:02,542][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.04 Hz +[2026-09-20 19:34:07,673][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:34:07,673][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:34:09,806][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.69 Hz +[2026-09-20 19:34:12,546][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.03 Hz +[2026-09-20 19:34:19,810][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.31 Hz +[2026-09-20 19:34:22,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.45 Hz +[2026-09-20 19:34:27,609][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.23 iterations per second over 30.00 seconds. +[2026-09-20 19:34:27,610][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003980 s, max step_time: 0.026468 s +[2026-09-20 19:34:29,810][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.09 Hz +[2026-09-20 19:34:30,450][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.35 iterations per second over 30.00 seconds. +[2026-09-20 19:34:30,450][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003978 s, max step_time: 0.026418 s +[2026-09-20 19:34:32,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.19 Hz +[2026-09-20 19:34:37,081][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:34:37,081][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:34:39,810][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.29 Hz +[2026-09-20 19:34:42,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.39 Hz +[2026-09-20 19:34:49,813][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.02 Hz +[2026-09-20 19:34:52,556][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.21 Hz +[2026-09-20 19:34:57,613][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.41 iterations per second over 30.00 seconds. +[2026-09-20 19:34:57,613][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003962 s, max step_time: 0.027787 s +[2026-09-20 19:34:59,816][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.62 Hz +[2026-09-20 19:35:00,452][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.22 iterations per second over 30.00 seconds. +[2026-09-20 19:35:00,453][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003965 s, max step_time: 0.019678 s +[2026-09-20 19:35:02,558][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.74 Hz +[2026-09-20 19:35:09,819][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.35 Hz +[2026-09-20 19:35:12,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.40 Hz +[2026-09-20 19:35:18,464][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:35:18,464][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:35:19,819][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.19 Hz +[2026-09-20 19:35:22,560][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.25 Hz +[2026-09-20 19:35:27,613][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.56 iterations per second over 30.00 seconds. +[2026-09-20 19:35:27,613][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004007 s, max step_time: 0.031428 s +[2026-09-20 19:35:29,819][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.89 Hz +[2026-09-20 19:35:30,455][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.80 iterations per second over 30.00 seconds. +[2026-09-20 19:35:30,456][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003971 s, max step_time: 0.032706 s +[2026-09-20 19:35:32,562][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.76 Hz +[2026-09-20 19:35:39,821][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.05 Hz +[2026-09-20 19:35:42,565][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.84 Hz +[2026-09-20 19:35:49,823][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.87 Hz +[2026-09-20 19:35:52,568][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.12 Hz +[2026-09-20 19:35:57,614][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.16 iterations per second over 30.00 seconds. +[2026-09-20 19:35:57,614][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003966 s, max step_time: 0.011802 s +[2026-09-20 19:35:59,824][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.86 Hz +[2026-09-20 19:36:00,457][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.72 iterations per second over 30.00 seconds. +[2026-09-20 19:36:00,457][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003973 s, max step_time: 0.013380 s +[2026-09-20 19:36:02,569][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.45 Hz +[2026-09-20 19:36:09,826][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.04 Hz +[2026-09-20 19:36:12,573][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.10 Hz +[2026-09-20 19:36:18,719][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.82 iterations per second over 18.26 seconds. +[2026-09-20 19:36:18,724][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.63 iterations per second over 21.11 seconds. +[2026-09-20 19:36:20,555][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:36:20,556][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:36:20,556][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:36:20,557][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:36:20,557][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:36:20,557][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:36:20,557][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:36:20,557][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:36:20,557][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:36:20,558][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:36:20,558][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:36:20,558][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:36:20,558][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:36:20,558][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:36:20,558][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:36:20,558][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 19:36:20,558][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:36:20,558][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:36:20,559][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:36:20,559][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:36:20,559][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:36:20,559][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:36:20,559][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:36:20,559][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:36:20,559][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:36:20,559][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:36:20,559][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:36:20,559][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:36:20,559][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:36:20,559][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:36:20,560][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:36:20,571][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:36:20,582][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:36:20,594][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:36:20,605][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:36:20,616][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:20,627][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:36:20,638][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:36:20,649][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:20,660][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:36:20,671][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:36:20,682][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:20,693][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:36:20,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:36:20,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:20,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:36:20,738][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:36:20,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:20,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:36:20,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:36:20,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:20,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:36:20,794][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 19:36:20,794][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:36:20,794][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:36:20,850][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:36:20,904][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:36:20,959][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:36:21,015][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 +[2026-09-20 19:36:21,069][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 +[2026-09-20 19:36:21,124][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:36:21,180][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:36:21,181][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:36:21,181][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:36:21,181][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:36:21,192][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:36:21,198][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:36:21,204][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:36:21,210][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:36:21,216][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:36:21,222][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:36:21,229][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:36:21,235][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, 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)] +[2026-09-20 19:36:21,235][root][INFO] - current_pos: [0.06771190966659013, -0.000953688868543523, 0.029564354924849212, -0.05054551003280672, 0.09632257572289582, 0.037575341420614805, 0.02193484397650103] +[2026-09-20 19:36:21,235][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:36:21,235][root][INFO] - starting separate thread for control loop +[2026-09-20 19:36:21,336][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=0.06809338521400754, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789904181.3359673), 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=1789904181.3359673), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.03418803418803407, pos=0.029564354924849212, voltage=-1, temp_mos=31.0, temp_rotor=35.0, timestamp=1789904181.3359673), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.05016403448539286, voltage=-1, temp_mos=32.0, temp_rotor=37.0, timestamp=1789904181.3359673), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.09632257572289582, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789904181.3359673), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.037193865873197396, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904181.3359673), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.02193484397650103, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904181.3359673)] +[2026-09-20 19:36:21,336][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:36:21,336][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0219 +[2026-09-20 19:36:21,336][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:36:21,965][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-20 19:36:22,265][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:36:22,888][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:36:23,189][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270275425345236, -0.00705729762722207) +[2026-09-20 19:36:23,189][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27027543 -0.0070573 ] +[2026-09-20 19:36:23,421][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:36:23,421][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:36:23,421][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:36:23,421][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:36:23,421][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:36:23,421][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:36:23,421][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:36:23,421][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:36:23,422][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:36:23,422][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:36:23,422][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:36:23,422][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:36:23,422][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:36:23,422][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:36:23,422][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:36:23,422][root][INFO] - initializing, .... +[2026-09-20 19:36:23,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:36:23,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:23,454][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:36:23,465][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:36:23,476][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:23,487][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:36:23,498][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:36:23,508][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:23,519][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:36:23,530][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:36:23,541][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:23,552][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:36:23,563][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:36:23,574][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:23,585][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:36:23,596][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:36:23,608][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:23,618][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:36:23,629][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:36:23,640][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:36:23,651][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:36:23,651][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:36:23,651][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:36:23,652][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:36:23,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:36:23,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:36:23,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:36:23,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:36:23,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:36:23,974][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:36:24,027][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:36:24,028][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:36:24,028][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:36:24,028][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:36:24,038][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:36:24,044][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:36:24,050][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:36:24,056][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:36:24,061][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:36:24,068][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:36:24,074][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:36:24,080][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=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 19:36:24,080][root][INFO] - current_pos: [-0.04329747463187594, -0.0013351644159609322, 0.000953688868543523, 0.004386968795300206, -0.06809338521400754, 0.15011062790875052, 1.2083237964446472] +[2026-09-20 19:36:24,080][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:36:24,080][root][INFO] - starting separate thread for control loop +[2026-09-20 19:36:24,181][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.04329747463187594, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789904184.181221), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.04786324786324769, pos=-0.0009536888685399703, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789904184.181221), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=32.0, timestamp=1789904184.181221), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.004386968795300206, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789904184.181221), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.06809338521400754, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789904184.181221), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.15011062790875052, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789904184.181221), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=1.2083237964446472, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789904184.181221)] +[2026-09-20 19:36:24,181][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:36:24,181][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.2083 +[2026-09-20 19:36:24,181][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:36:24,750][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:36:25,050][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:36:25,673][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:36:25,973][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255779354543375, -0.011253528648817124) +[2026-09-20 19:36:25,973][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25577935 -0.01125353] +[2026-09-20 19:36:26,096][root][INFO] - initializing, .... +[2026-09-20 19:36:33,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.08 Hz +[2026-09-20 19:36:36,098][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.39 Hz +[2026-09-20 19:36:43,426][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.75 Hz +[2026-09-20 19:36:46,099][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.58 Hz +[2026-09-20 19:36:51,236][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.26 iterations per second over 30.00 seconds. +[2026-09-20 19:36:51,236][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003995 s, max step_time: 0.064038 s +[2026-09-20 19:36:53,430][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.30 Hz +[2026-09-20 19:36:54,083][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.18 iterations per second over 30.00 seconds. +[2026-09-20 19:36:54,084][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.004062 s, max step_time: 0.064836 s +[2026-09-20 19:36:54,170][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:36:54,170][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:36:56,100][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.87 Hz +[2026-09-20 19:37:03,432][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.64 Hz +[2026-09-20 19:37:06,101][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.16 Hz +[2026-09-20 19:37:13,433][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.97 Hz +[2026-09-20 19:37:16,104][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.83 Hz +[2026-09-20 19:37:21,239][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.31 iterations per second over 30.00 seconds. +[2026-09-20 19:37:21,239][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: 0.025744 s +[2026-09-20 19:37:23,434][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.47 Hz +[2026-09-20 19:37:24,084][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.16 iterations per second over 30.00 seconds. +[2026-09-20 19:37:24,084][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003859 s, max step_time: 0.024379 s +[2026-09-20 19:37:26,104][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.00 Hz +[2026-09-20 19:37:33,436][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.05 Hz +[2026-09-20 19:37:36,105][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.37 Hz +[2026-09-20 19:37:43,436][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.57 Hz +[2026-09-20 19:37:46,106][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.48 Hz +[2026-09-20 19:37:51,241][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.08 iterations per second over 30.00 seconds. +[2026-09-20 19:37:53,438][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.96 Hz +[2026-09-20 19:37:54,084][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.60 iterations per second over 30.00 seconds. +[2026-09-20 19:37:54,377][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 279.60 iterations per second over 0.29 seconds. +[2026-09-20 19:37:54,385][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 277.33 iterations per second over 3.14 seconds. +[2026-09-20 19:37:58,115][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:37:58,116][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:37:58,116][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:37:58,116][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:37:58,116][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:37:58,116][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:37:58,116][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:37:58,117][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:37:58,117][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:37:58,118][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:37:58,118][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:37:58,118][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:37:58,118][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:37:58,118][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:37:58,118][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:37:58,118][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:37:58,118][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:37:58,118][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:37:58,119][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:37:58,119][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:37:58,120][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:37:58,131][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:37:58,143][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:37:58,154][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:37:58,165][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:37:58,176][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:37:58,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:37:58,198][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:37:58,209][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:37:58,220][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:37:58,232][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:37:58,243][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:37:58,254][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:37:58,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:37:58,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:37:58,288][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:37:58,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:37:58,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:37:58,322][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:37:58,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:37:58,344][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:37:58,355][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:37:58,355][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-20 19:37:58,355][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:37:58,355][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:37:58,411][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:37:58,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:37:58,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:37:58,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:37:58,634][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:37:58,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:37:58,746][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:37:58,746][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:37:58,746][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:37:58,746][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:37:58,757][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:37:58,763][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:37:58,769][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:37:58,775][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:37:58,781][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:37:58,787][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:37:58,794][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:37:58,801][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=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:37:58,801][root][INFO] - current_pos: [-0.04787518120088485, -0.000953688868543523, 0.0024795910582131597, 0.0001907377737087046, 0.0040054932478827965, -0.052071412222476354, 0.04901960784313708] +[2026-09-20 19:37:58,801][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:37:58,801][root][INFO] - starting separate thread for control loop +[2026-09-20 19:37:58,902][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=-0.04787518120088485, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789904278.9023626), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789904278.9023626), 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=34.0, timestamp=1789904278.9023626), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0001907377737087046, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1789904278.9023626), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0040054932478827965, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789904278.9023626), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.052071412222476354, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904278.9023626), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.04901960784313708, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904278.9023626)] +[2026-09-20 19:37:58,902][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:37:58,903][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0490 +[2026-09-20 19:37:58,903][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:37:59,528][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 19:37:59,828][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:38:00,460][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:38:00,760][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.271419851987488, -0.00705729762722207) +[2026-09-20 19:38:00,761][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27141985 -0.0070573 ] +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:38:01,005][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:38:01,005][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:38:01,005][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:38:01,005][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:38:01,005][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:38:01,006][root][INFO] - initializing, .... +[2026-09-20 19:38:01,017][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:38:01,028][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:01,039][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:38:01,050][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:38:01,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:01,073][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:38:01,084][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:38:01,095][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:01,106][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:38:01,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:01,128][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:01,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:01,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:01,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:01,171][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:01,182][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:01,193][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:01,204][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:01,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:01,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:01,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:01,237][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:38:01,237][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:38:01,237][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:38:01,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:38:01,344][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:38:01,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:38:01,452][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:01,506][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:01,559][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:01,613][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:01,613][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:38:01,613][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:38:01,613][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:38:01,624][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:38:01,629][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:38:01,635][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:38:01,641][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:38:01,647][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:38:01,653][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:38:01,659][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:38:01,665][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=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 19:38:01,665][root][INFO] - current_pos: [-0.06389715419241604, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, -0.023842221713588074, -0.05436026550698081, -0.000953688868543523] +[2026-09-20 19:38:01,665][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:38:01,665][root][INFO] - starting separate thread for control loop +[2026-09-20 19:38:01,765][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.03418803418803407, pos=-0.06389715419241604, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789904281.7657948), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.04786324786324769, pos=-0.0009536888685399703, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789904281.7657948), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1789904281.7657948), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789904281.7657948), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.023842221713588074, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789904281.7657948), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.05436026550698081, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789904281.7657948), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789904281.7657948)] +[2026-09-20 19:38:01,765][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:38:01,766][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-20 19:38:01,766][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:38:02,389][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:38:02,689][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:38:03,313][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:38:03,613][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.262645914396888, -0.011253528648817124) +[2026-09-20 19:38:03,614][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26264591 -0.01125353] +[2026-09-20 19:38:03,745][root][INFO] - initializing, .... +[2026-09-20 19:38:11,011][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.01 Hz +[2026-09-20 19:38:13,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.80 Hz +[2026-09-20 19:38:14,565][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:38:14,566][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:38:21,013][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.53 Hz +[2026-09-20 19:38:23,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.55 Hz +[2026-09-20 19:38:28,804][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.14 iterations per second over 30.00 seconds. +[2026-09-20 19:38:28,805][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003858 s, max step_time: 0.074667 s +[2026-09-20 19:38:31,015][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.36 Hz +[2026-09-20 19:38:31,665][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.90 iterations per second over 30.00 seconds. +[2026-09-20 19:38:31,665][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003892 s, max step_time: 0.074433 s +[2026-09-20 19:38:33,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.10 Hz +[2026-09-20 19:38:36,949][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.10 iterations per second over 5.28 seconds. +[2026-09-20 19:38:36,955][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.89 iterations per second over 8.15 seconds. +[2026-09-20 19:38:38,426][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:38:38,427][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:38:38,427][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:38:38,427][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:38:38,427][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:38:38,428][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:38:38,428][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:38:38,428][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:38:38,428][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:38:38,429][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:38:38,429][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:38:38,429][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:38:38,429][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:38:38,429][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:38:38,429][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:38:38,429][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 19:38:38,429][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:38:38,429][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:38:38,429][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:38:38,429][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:38:38,429][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:38:38,430][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:38:38,430][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:38:38,430][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:38:38,430][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:38:38,430][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:38:38,430][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:38:38,430][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:38:38,430][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:38:38,430][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:38:38,431][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:38:38,443][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:38:38,454][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:38:38,465][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:38:38,476][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:38:38,487][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:38,498][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:38:38,509][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:38:38,520][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:38,531][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:38:38,543][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:38,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:38,564][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:38,575][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:38,586][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:38,597][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:38,608][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:38,619][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:38,630][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:38,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:38,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:38,663][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:38,663][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 19:38:38,663][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:38:38,663][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:38:38,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:38:38,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:38:38,826][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:38:38,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:38,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:38,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:39,042][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:39,042][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:38:39,042][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:38:39,042][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:38:39,053][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:38:39,058][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:38:39,064][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:38:39,070][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:38:39,076][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:38:39,082][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:38:39,088][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:38:39,094][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:38:39,094][root][INFO] - current_pos: [0.027656977187762166, -0.000953688868543523, 0.0024795910582131597, 0.0001907377737087046, 0.014686808575570254, 0.078774700541695, 0.022316319523918438] +[2026-09-20 19:38:39,094][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:38:39,094][root][INFO] - starting separate thread for control loop +[2026-09-20 19:38:39,195][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.006837606837606813, pos=0.027656977187762166, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789904319.1952295), 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=1789904319.1952295), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789904319.1952295), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789904319.1952295), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.014686808575570254, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789904319.1952295), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.078774700541695, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904319.1952295), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.022316319523918438, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904319.1952295)] +[2026-09-20 19:38:39,195][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:38:39,195][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-20 19:38:39,195][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:38:39,868][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-20 19:38:40,168][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:38:40,794][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 19:38:41,094][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.28744182497902, -0.007438773174639479) +[2026-09-20 19:38:41,095][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28744182 -0.00743877] +[2026-09-20 19:38:41,328][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:38:41,328][root][INFO] - initializing, .... +[2026-09-20 19:38:41,328][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:38:41,329][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:38:41,329][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:38:41,329][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:38:41,329][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:38:41,329][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:38:41,329][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:38:41,329][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:38:41,329][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:38:41,329][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:38:41,329][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:38:41,329][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:38:41,329][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:38:41,329][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:38:41,340][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:38:41,351][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:41,362][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:38:41,372][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:38:41,383][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:41,394][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:38:41,405][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:38:41,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:41,426][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:38:41,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:41,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:41,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:41,469][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:41,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:41,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:41,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:41,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:41,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:41,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:38:41,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:38:41,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:38:41,555][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:38:41,555][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:38:41,556][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:38:41,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:38:41,663][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:38:41,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:38:41,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:41,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:41,877][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:41,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:38:41,930][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:38:41,931][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:38:41,931][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:38:41,941][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:38:41,947][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:38:41,953][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:38:41,959][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:38:41,965][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:38:41,971][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:38:41,977][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:38:41,983][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=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:38:41,983][root][INFO] - current_pos: [0.07724879835202536, -0.0013351644159609322, 0.000953688868543523, 0.0017166399633783413, 0.0020981155107957505, -0.0036240177004653873, -0.002861066605630569] +[2026-09-20 19:38:41,983][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:38:41,983][root][INFO] - starting separate thread for control loop +[2026-09-20 19:38:42,083][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.04786324786324769, pos=0.07724879835202536, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789904322.0835474), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789904322.0835474), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1789904322.0835474), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789904322.0835474), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789904322.0835474), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0036240177004653873, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789904322.0835474), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.002861066605630569, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789904322.0835474)] +[2026-09-20 19:38:42,083][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:38:42,083][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-20 19:38:42,083][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:38:42,750][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:38:43,050][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:38:43,723][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:38:44,023][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.27561608300908, -0.011253528648817124) +[2026-09-20 19:38:44,023][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27561608 -0.01125353] +[2026-09-20 19:38:44,145][root][INFO] - initializing, .... +[2026-09-20 19:38:51,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.96 Hz +[2026-09-20 19:38:54,150][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.32 Hz +[2026-09-20 19:39:00,587][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:39:00,587][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:39:01,338][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.54 Hz +[2026-09-20 19:39:04,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.43 Hz +[2026-09-20 19:39:09,096][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.32 iterations per second over 30.00 seconds. +[2026-09-20 19:39:09,096][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.003932 s, max step_time: 0.062829 s +[2026-09-20 19:39:11,339][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.78 Hz +[2026-09-20 19:39:11,984][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.35 iterations per second over 30.00 seconds. +[2026-09-20 19:39:11,985][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003947 s, max step_time: 0.066595 s +[2026-09-20 19:39:14,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.53 Hz +[2026-09-20 19:39:21,342][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.21 Hz +[2026-09-20 19:39:24,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.53 Hz +[2026-09-20 19:39:31,342][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.29 Hz +[2026-09-20 19:39:34,163][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.59 Hz +[2026-09-20 19:39:39,098][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.98 iterations per second over 30.00 seconds. +[2026-09-20 19:39:41,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.76 Hz +[2026-09-20 19:39:41,987][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.98 iterations per second over 30.00 seconds. +[2026-09-20 19:39:41,987][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003718 s, max step_time: 0.007538 s +[2026-09-20 19:39:44,164][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.85 Hz +[2026-09-20 19:39:51,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 267.97 Hz +[2026-09-20 19:39:54,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.27 Hz +[2026-09-20 19:40:01,347][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.13 Hz +[2026-09-20 19:40:04,168][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.64 Hz +[2026-09-20 19:40:09,098][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 267.76 iterations per second over 30.00 seconds. +[2026-09-20 19:40:11,350][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.93 Hz +[2026-09-20 19:40:11,988][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 265.89 iterations per second over 30.00 seconds. +[2026-09-20 19:40:14,171][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.10 Hz +[2026-09-20 19:40:21,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.51 Hz +[2026-09-20 19:40:24,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.95 Hz +[2026-09-20 19:40:30,381][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.56 iterations per second over 18.39 seconds. +[2026-09-20 19:40:30,390][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.78 iterations per second over 21.29 seconds. +[2026-09-20 19:40:32,070][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:40:32,071][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:40:32,071][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:40:32,071][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:40:32,071][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:40:32,072][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:40:32,072][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:40:32,072][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:40:32,072][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:40:32,073][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:40:32,073][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:40:32,073][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:40:32,073][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:40:32,073][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:40:32,073][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:40:32,073][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 19:40:32,073][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:40:32,073][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:40:32,073][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:40:32,073][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:40:32,073][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:40:32,074][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:40:32,074][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:40:32,074][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:40:32,074][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:40:32,074][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:40:32,074][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:40:32,074][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:40:32,074][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:40:32,074][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:40:32,075][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:40:32,086][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:40:32,097][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:40:32,108][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:40:32,119][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:40:32,130][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:32,141][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:40:32,153][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:40:32,163][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:32,174][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:40:32,186][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:40:32,197][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:32,208][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:40:32,219][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:40:32,231][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:32,242][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:40:32,253][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:40:32,264][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:32,275][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:40:32,286][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:40:32,296][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:32,307][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:40:32,308][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 19:40:32,308][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:40:32,308][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:40:32,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:40:32,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:40:32,474][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:40:32,529][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:40:32,583][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:40:32,637][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:40:32,691][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:40:32,691][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:40:32,691][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:40:32,692][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:40:32,702][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:40:32,708][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:40:32,714][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:40:32,720][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:40:32,726][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:40:32,732][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:40:32,738][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:40:32,744][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:40:32,744][root][INFO] - current_pos: [-0.005149919890135024, -0.0001907377737087046, 0.0024795910582131597, 0.0013351644159609322, -0.006294346532387252, 0.05970092317082454, 0.020027466239413982] +[2026-09-20 19:40:32,744][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:40:32,744][root][INFO] - starting separate thread for control loop +[2026-09-20 19:40:32,844][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.005149919890135024, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789904432.8448658), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904432.8448658), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=35.0, timestamp=1789904432.8448658), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789904432.8448658), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.006294346532387252, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789904432.8448658), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.05970092317082454, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904432.8448658), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.020027466239413982, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789904432.8448658)] +[2026-09-20 19:40:32,845][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:40:32,845][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0200 +[2026-09-20 19:40:32,845][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:40:33,471][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-20 19:40:33,771][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:40:34,395][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:40:34,695][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-20 19:40:34,695][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-20 19:40:34,932][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:40:34,932][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:40:34,932][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:40:34,932][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:40:34,932][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:40:34,932][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:40:34,932][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:40:34,932][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:40:34,933][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:40:34,933][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:40:34,933][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:40:34,933][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:40:34,933][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:40:34,933][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:40:34,933][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:40:34,935][root][INFO] - initializing, .... +[2026-09-20 19:40:34,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:40:34,955][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:34,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:40:34,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:40:34,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:34,999][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:40:35,009][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:40:35,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:35,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:40:35,042][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:40:35,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:35,063][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:40:35,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:40:35,085][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:35,095][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:40:35,106][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:40:35,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:35,127][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:40:35,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:40:35,149][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:40:35,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:40:35,160][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:40:35,160][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:40:35,161][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:40:35,214][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:40:35,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:40:35,322][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:40:35,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:40:35,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:40:35,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:40:35,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:40:35,537][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:40:35,537][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:40:35,537][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:40:35,548][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:40:35,553][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:40:35,559][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:40:35,565][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:40:35,571][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:40:35,577][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:40:35,583][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:40:35,589][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:40:35,589][root][INFO] - current_pos: [0.11387045090409664, -0.0013351644159609322, 0.000953688868543523, 0.0020981155107957505, 0.0005722133211261138, 0.0497825589379719, 0.5453192950331882] +[2026-09-20 19:40:35,589][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:40:35,589][root][INFO] - starting separate thread for control loop +[2026-09-20 19:40:35,689][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.11387045090409664, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789904435.6898859), 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=1789904435.6898859), 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=1789904435.6898859), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1789904435.6898859), 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=30.0, timestamp=1789904435.6898859), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0497825589379719, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789904435.6898859), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.5453192950331882, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789904435.6898859)] +[2026-09-20 19:40:35,690][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:40:35,690][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.5453 +[2026-09-20 19:40:35,690][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:40:36,361][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:40:36,661][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:40:37,277][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:40:37,577][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.011253528648813571) +[2026-09-20 19:40:37,578][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.01125353] +[2026-09-20 19:40:37,710][root][INFO] - initializing, .... +[2026-09-20 19:40:44,937][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.24 Hz +[2026-09-20 19:40:47,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.84 Hz +[2026-09-20 19:40:50,625][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:40:50,625][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:40:54,941][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.53 Hz +[2026-09-20 19:40:57,713][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.90 Hz +[2026-09-20 19:41:02,747][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.41 iterations per second over 30.00 seconds. +[2026-09-20 19:41:02,748][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003900 s, max step_time: 0.067253 s +[2026-09-20 19:41:04,940][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.30 Hz +[2026-09-20 19:41:05,591][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.95 iterations per second over 30.00 seconds. +[2026-09-20 19:41:05,591][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003968 s, max step_time: 0.060840 s +[2026-09-20 19:41:07,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.11 Hz +[2026-09-20 19:41:14,941][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.57 Hz +[2026-09-20 19:41:17,718][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.96 Hz +[2026-09-20 19:41:24,942][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.16 Hz +[2026-09-20 19:41:27,719][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.57 Hz +[2026-09-20 19:41:32,751][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.24 iterations per second over 30.00 seconds. +[2026-09-20 19:41:32,751][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003903 s, max step_time: 0.007840 s +[2026-09-20 19:41:34,385][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:41:34,386][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:41:34,945][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.82 Hz +[2026-09-20 19:41:35,593][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.98 iterations per second over 30.00 seconds. +[2026-09-20 19:41:35,593][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003922 s, max step_time: 0.023740 s +[2026-09-20 19:41:37,723][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.02 Hz +[2026-09-20 19:41:44,946][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.17 Hz +[2026-09-20 19:41:47,724][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.30 Hz +[2026-09-20 19:41:54,948][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 +[2026-09-20 19:41:57,723][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.39 Hz +[2026-09-20 19:42:02,753][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.98 iterations per second over 30.00 seconds. +[2026-09-20 19:42:02,753][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003846 s, max step_time: 0.019298 s +[2026-09-20 19:42:04,949][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.35 Hz +[2026-09-20 19:42:05,597][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.90 iterations per second over 30.00 seconds. +[2026-09-20 19:42:05,597][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003863 s, max step_time: 0.007304 s +[2026-09-20 19:42:07,724][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.17 Hz +[2026-09-20 19:42:12,459][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:42:12,459][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:42:14,951][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.64 Hz +[2026-09-20 19:42:17,724][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.40 Hz +[2026-09-20 19:42:24,953][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.36 Hz +[2026-09-20 19:42:27,729][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.18 Hz +[2026-09-20 19:42:32,755][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.11 iterations per second over 30.00 seconds. +[2026-09-20 19:42:32,756][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003920 s, max step_time: 0.015014 s +[2026-09-20 19:42:34,954][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.67 Hz +[2026-09-20 19:42:35,599][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.79 iterations per second over 30.00 seconds. +[2026-09-20 19:42:35,599][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003909 s, max step_time: 0.015090 s +[2026-09-20 19:42:37,729][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.50 Hz +[2026-09-20 19:42:44,957][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.84 Hz +[2026-09-20 19:42:47,732][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.65 Hz +[2026-09-20 19:42:54,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.84 Hz +[2026-09-20 19:42:55,419][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:42:55,419][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:42:57,735][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.69 Hz +[2026-09-20 19:43:02,756][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.80 iterations per second over 30.00 seconds. +[2026-09-20 19:43:02,756][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003971 s, max step_time: 0.030635 s +[2026-09-20 19:43:04,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.01 Hz +[2026-09-20 19:43:05,599][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.23 iterations per second over 30.00 seconds. +[2026-09-20 19:43:05,599][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003980 s, max step_time: 0.031354 s +[2026-09-20 19:43:07,739][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.61 Hz +[2026-09-20 19:43:14,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.32 Hz +[2026-09-20 19:43:17,739][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.19 Hz +[2026-09-20 19:43:24,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.42 Hz +[2026-09-20 19:43:27,742][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.13 Hz +[2026-09-20 19:43:32,756][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.72 iterations per second over 30.00 seconds. +[2026-09-20 19:43:32,757][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003880 s, max step_time: 0.008028 s +[2026-09-20 19:43:34,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.07 Hz +[2026-09-20 19:43:35,602][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.54 iterations per second over 30.00 seconds. +[2026-09-20 19:43:35,602][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: 0.007609 s +[2026-09-20 19:43:37,744][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.04 Hz +[2026-09-20 19:43:44,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.82 Hz +[2026-09-20 19:43:46,602][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:43:46,603][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:43:47,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.81 Hz +[2026-09-20 19:43:54,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.05 Hz +[2026-09-20 19:43:57,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.01 Hz +[2026-09-20 19:44:02,759][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.88 iterations per second over 30.00 seconds. +[2026-09-20 19:44:02,759][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003954 s, max step_time: 0.037394 s +[2026-09-20 19:44:04,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.60 Hz +[2026-09-20 19:44:05,603][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.49 iterations per second over 30.00 seconds. +[2026-09-20 19:44:05,603][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003945 s, max step_time: 0.028517 s +[2026-09-20 19:44:07,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.18 Hz +[2026-09-20 19:44:14,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.84 Hz +[2026-09-20 19:44:17,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.92 Hz +[2026-09-20 19:44:24,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.39 Hz +[2026-09-20 19:44:27,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.99 Hz +[2026-09-20 19:44:32,046][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.75 iterations per second over 26.44 seconds. +[2026-09-20 19:44:32,053][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.81 iterations per second over 29.29 seconds. diff --git a/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/rounds.json b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..f142d46b6f4dd1351c669c5dcacae024468093c6 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/rounds.json @@ -0,0 +1,206 @@ +{ + "rounds": [ + { + "actions_sent": 459, + "chunks": 15, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place/data/round_0001", + "reviewed_at_ns": 1789903969641620977, + "round_number": 1, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 600, + "chunks": 20, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place/data/round_0002", + "reviewed_at_ns": 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"termination_reason": "operator_review" + }, + { + "actions_sent": 338, + "chunks": 11, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place/data/round_0011", + "reviewed_at_ns": 1789904450626687531, + "round_number": 11, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 340, + "chunks": 11, + "data_saved": false, + "operator_result": "discard", + "operator_stopped": true, + "output_dir": null, + "reviewed_at_ns": 1789904494394300703, + "round_number": 12, + "status": "completed", + "task_success": null, + "termination_reason": "operator_review" + }, + { + "actions_sent": 216, + "chunks": 7, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/catch_and_place/data/round_0013", + "reviewed_at_ns": 1789904532473033947, + 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"reviewed_at_ns": 1789904666649990367, + "round_number": 16, + "status": "failed", + "task_success": null + } + ] +} diff --git a/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/runtime/output.lock b/eval/YAM/V2/pi0_20eps_20000/catch_and_place/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391