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"prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789573509.075575 + } +} diff --git a/eval/YAM/V2/dp/spatula_handoff/data/round_0010/manifests/tactile.json b/eval/YAM/V2/dp/spatula_handoff/data/round_0010/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/dp/spatula_handoff/data/round_0010/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/dp/spatula_handoff/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/dp/spatula_handoff/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d6eabe28723bdf2ebb20e2ae9bc0194668826fe --- /dev/null +++ b/eval/YAM/V2/dp/spatula_handoff/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,244 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff + steps: 30 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 32 + prediction_horizon: 32 +policy: + host: 127.0.0.1 + port: 9016 + prompt: spatula_handoff + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 5.0 + task: spatula_handoff + expected_checkpoint_path: /home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt + history_tolerance_s: 0.015 + model: dp +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${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: + - 178.113964503 + - 247.518197236 + - 201.062710341 + - 412.295997642 + - 292.886498339 + - 681.801119417 + - 164.113917278 + - 267.740085544 + - 714.966739645 + - 836.862131179 + - 880.771530315 + - 543.256770374 + - 313.320489803 + - 313.35155152 + 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: false + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 1.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 + sync_wait_after_ack: true +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: YAM V2 dp spatula_handoff - sync + 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/dp/spatula_handoff/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/dp/spatula_handoff/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6daa0fcd0d91c5c0e8c154c8aacb8c6225256a68 --- /dev/null +++ b/eval/YAM/V2/dp/spatula_handoff/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.model=dp + - policy.task=spatula_handoff + - policy.prompt=spatula_handoff + - policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt + - run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff + - async_inference.enabled=false + - preview.window=YAM V2 dp spatula_handoff - sync + job: + name: rollout + chdir: false + override_dirname: async_inference.enabled=false,execute=true,policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt,policy.model=dp,policy.prompt=spatula_handoff,policy.task=spatula_handoff,preview.window=YAM + V2 dp spatula_handoff - sync,run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff + id: ??? + num: ??? + config_name: yam_v2 + 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/yam_v2/dp/best-short/spatula_handoff/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/dp/spatula_handoff/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/dp/spatula_handoff/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d0639f8342ae0d4bfdc3e2ed0f6ce4ccef6ebf4 --- /dev/null +++ b/eval/YAM/V2/dp/spatula_handoff/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.model=dp +- policy.task=spatula_handoff +- policy.prompt=spatula_handoff +- policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt +- run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff +- async_inference.enabled=false +- preview.window=YAM V2 dp spatula_handoff - sync diff --git a/eval/YAM/V2/dp/spatula_handoff/metadata/hydra/rollout.log b/eval/YAM/V2/dp/spatula_handoff/metadata/hydra/rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..91f097563f2ed93339dc44715e594d39b3c89b2f --- /dev/null +++ b/eval/YAM/V2/dp/spatula_handoff/metadata/hydra/rollout.log @@ -0,0 +1,470 @@ +[2026-09-16 23:36:17,421][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:36:17,422][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:36:17,422][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:36:17,422][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:36:17,422][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:36:17,422][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:36:17,423][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:36:17,423][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:36:17,423][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:36:17,424][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:36:17,424][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:36:17,424][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:36:17,424][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:36:17,424][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:36:17,424][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:36:17,424][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} +[2026-09-16 23:36:17,424][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 23:36:17,424][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 23:36:17,424][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:36:17,424][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:36:17,425][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:36:17,425][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:36:17,425][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:36:17,425][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:36:17,425][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:36:17,425][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:36:17,425][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:36:17,425][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:36:17,425][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:36:17,425][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 +[2026-09-16 23:36:17,426][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:36:17,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:36:17,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:36:17,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:36:17,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:36:17,481][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:17,492][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:36:17,503][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:36:17,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:17,526][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:36:17,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:36:17,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:17,559][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:36:17,570][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:36:17,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:17,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:36:17,603][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:36:17,614][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:17,625][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:36:17,636][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:36:17,647][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:17,658][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:36:17,658][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:36:17,658][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 +[2026-09-16 23:36:17,658][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:36:17,713][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 +[2026-09-16 23:36:17,768][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 +[2026-09-16 23:36:17,823][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 +[2026-09-16 23:36:17,879][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 +[2026-09-16 23:36:17,935][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 +[2026-09-16 23:36:17,992][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 +[2026-09-16 23:36:18,047][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 +[2026-09-16 23:36:18,047][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) +[2026-09-16 23:36:18,048][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:36:18,048][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:36:18,059][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:36:18,064][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:36:18,070][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:36:18,077][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:36:18,083][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:36:18,089][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:36:18,095][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:36:18,101][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 23:36:18,101][root][INFO] - current_pos: [-0.012397955291065799, -0.000953688868543523, 0.0017166399633783413, 0.0001907377737087046, 0.0005722133211261138, -0.1577401388570987, -0.002861066605630569] +[2026-09-16 23:36:18,101][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:36:18,101][root][INFO] - starting separate thread for control loop +[2026-09-16 23:36:18,202][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=-0.012397955291065799, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789572978.2022738), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789572978.2022738), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789572978.2022738), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.012210012210012167, pos=0.0001907377737087046, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789572978.2022738), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789572978.2022738), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.1577401388570987, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789572978.2022738), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.002861066605630569, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789572978.2022738)] +[2026-09-16 23:36:18,202][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:36:18,202][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-16 23:36:18,202][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:36:18,828][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:36:19,128][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:36:19,758][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:36:20,059][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.00705729762722207) +[2026-09-16 23:36:20,060][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 23:36:20,301][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 +[2026-09-16 23:36:20,301][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 +[2026-09-16 23:36:20,301][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:36:20,301][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:36:20,301][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:36:20,301][root][INFO] - initializing, .... +[2026-09-16 23:36:20,301][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:36:20,301][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:36:20,301][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:36:20,301][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:36:20,301][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:36:20,301][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:36:20,301][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:36:20,301][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:36:20,301][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 +[2026-09-16 23:36:20,302][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:36:20,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:36:20,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:20,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:36:20,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:36:20,356][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:20,367][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:36:20,378][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:36:20,389][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:20,400][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:36:20,411][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:36:20,422][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:20,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:36:20,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:36:20,455][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:20,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:36:20,477][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:36:20,488][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:20,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:36:20,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:36:20,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:36:20,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:36:20,533][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:36:20,533][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:36:20,533][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:36:20,588][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 +[2026-09-16 23:36:20,642][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 +[2026-09-16 23:36:20,695][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 +[2026-09-16 23:36:20,750][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 +[2026-09-16 23:36:20,805][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 +[2026-09-16 23:36:20,860][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 +[2026-09-16 23:36:20,916][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 +[2026-09-16 23:36:20,916][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) +[2026-09-16 23:36:20,917][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:36:20,917][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:36:20,928][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:36:20,934][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:36:20,940][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:36:20,947][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:36:20,953][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:36:20,962][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:36:20,968][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:36:20,975][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=0.0024420024420024333, 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)] +[2026-09-16 23:36:20,975][root][INFO] - current_pos: [0.037956816968032214, -0.0020981155107957505, 0.0005722133211261138, 0.0005722133211261138, -0.019645990691996573, -0.07839322499427759, 0.002861066605630569] +[2026-09-16 23:36:20,975][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:36:20,975][root][INFO] - starting separate thread for control loop +[2026-09-16 23:36:21,075][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.03418803418803407, pos=0.037956816968032214, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789572981.0757973), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789572981.0757973), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789572981.0757973), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789572981.0757973), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.019645990691996573, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789572981.0757973), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.07839322499427759, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789572981.0757973), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.002861066605630569, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789572981.0757973)] +[2026-09-16 23:36:21,076][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:36:21,076][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0029 +[2026-09-16 23:36:21,076][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:36:21,703][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2535 +[2026-09-16 23:36:22,003][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:36:22,628][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:36:22,928][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2584496833752965, -0.010872053101396162) +[2026-09-16 23:36:22,928][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25844968 -0.01087205] +[2026-09-16 23:36:23,059][root][INFO] - initializing, .... +[2026-09-16 23:36:30,306][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.23 Hz +[2026-09-16 23:36:33,062][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.90 Hz +[2026-09-16 23:36:40,310][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.93 Hz +[2026-09-16 23:36:43,064][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.99 Hz +[2026-09-16 23:36:46,683][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] +[2026-09-16 23:36:46,684][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] +[2026-09-16 23:36:48,104][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.18 iterations per second over 30.00 seconds. +[2026-09-16 23:36:48,104][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.003949 s, max step_time: 0.075597 s +[2026-09-16 23:36:50,309][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.38 Hz +[2026-09-16 23:36:50,978][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.07 iterations per second over 30.00 seconds. +[2026-09-16 23:36:50,979][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003998 s, max step_time: 0.068538 s +[2026-09-16 23:36:53,066][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.11 Hz +[2026-09-16 23:37:00,313][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.42 Hz +[2026-09-16 23:37:03,070][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.21 Hz +[2026-09-16 23:37:10,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.74 Hz +[2026-09-16 23:37:13,070][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.80 Hz +[2026-09-16 23:37:18,107][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.51 iterations per second over 30.00 seconds. +[2026-09-16 23:37:18,107][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003976 s, max step_time: 0.007562 s +[2026-09-16 23:37:20,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.88 Hz +[2026-09-16 23:37:20,979][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.96 iterations per second over 30.00 seconds. +[2026-09-16 23:37:20,979][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004001 s, max step_time: 0.008295 s +[2026-09-16 23:37:23,073][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.43 Hz +[2026-09-16 23:37:30,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.24 Hz +[2026-09-16 23:37:33,073][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.70 Hz +[2026-09-16 23:37:36,864][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] +[2026-09-16 23:37:36,864][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] +[2026-09-16 23:37:40,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.09 Hz +[2026-09-16 23:37:43,076][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.91 Hz +[2026-09-16 23:37:48,109][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.41 iterations per second over 30.00 seconds. +[2026-09-16 23:37:48,109][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003962 s, max step_time: 0.040803 s +[2026-09-16 23:37:50,321][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.81 Hz +[2026-09-16 23:37:50,981][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.65 iterations per second over 30.00 seconds. +[2026-09-16 23:37:50,981][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003958 s, max step_time: 0.023506 s +[2026-09-16 23:37:53,077][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.10 Hz +[2026-09-16 23:38:00,325][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.62 Hz +[2026-09-16 23:38:03,080][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.61 Hz +[2026-09-16 23:38:10,327][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.35 Hz +[2026-09-16 23:38:13,081][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.09 Hz +[2026-09-16 23:38:18,111][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.11 iterations per second over 30.00 seconds. +[2026-09-16 23:38:18,111][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003966 s, max step_time: 0.007879 s +[2026-09-16 23:38:20,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.23 Hz +[2026-09-16 23:38:20,982][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.19 iterations per second over 30.00 seconds. +[2026-09-16 23:38:20,982][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003981 s, max step_time: 0.008574 s +[2026-09-16 23:38:23,081][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.19 Hz +[2026-09-16 23:38:30,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.13 Hz +[2026-09-16 23:38:33,084][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.54 Hz +[2026-09-16 23:38:39,076][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] +[2026-09-16 23:38:39,076][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] +[2026-09-16 23:38:40,334][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.28 Hz +[2026-09-16 23:38:43,087][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.51 Hz +[2026-09-16 23:38:48,113][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.42 iterations per second over 30.00 seconds. +[2026-09-16 23:38:48,113][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003993 s, max step_time: 0.042549 s +[2026-09-16 23:38:50,337][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.91 Hz +[2026-09-16 23:38:50,987][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.76 iterations per second over 30.01 seconds. +[2026-09-16 23:38:50,987][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.004004 s, max step_time: 0.042708 s +[2026-09-16 23:38:53,091][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.42 Hz +[2026-09-16 23:39:00,341][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.30 Hz +[2026-09-16 23:39:03,092][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.77 Hz +[2026-09-16 23:39:10,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.55 Hz +[2026-09-16 23:39:13,095][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.93 Hz +[2026-09-16 23:39:18,116][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.58 iterations per second over 30.00 seconds. +[2026-09-16 23:39:18,116][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004023 s, max step_time: 0.009370 s +[2026-09-16 23:39:20,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.37 Hz +[2026-09-16 23:39:20,992][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.49 iterations per second over 30.01 seconds. +[2026-09-16 23:39:20,993][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004057 s, max step_time: 0.010493 s +[2026-09-16 23:39:23,094][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.90 Hz +[2026-09-16 23:39:30,348][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.20 Hz +[2026-09-16 23:39:33,096][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.16 Hz +[2026-09-16 23:39:40,349][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.97 Hz +[2026-09-16 23:39:43,101][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.99 Hz +[2026-09-16 23:39:44,652][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] +[2026-09-16 23:39:44,652][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] +[2026-09-16 23:39:48,116][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.26 iterations per second over 30.00 seconds. +[2026-09-16 23:39:48,116][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004012 s, max step_time: 0.039137 s +[2026-09-16 23:39:50,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.48 Hz +[2026-09-16 23:39:50,993][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.29 iterations per second over 30.00 seconds. +[2026-09-16 23:39:50,993][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003995 s, max step_time: 0.041855 s +[2026-09-16 23:39:53,104][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.20 Hz +[2026-09-16 23:40:00,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.14 Hz +[2026-09-16 23:40:03,105][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.88 Hz +[2026-09-16 23:40:10,355][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.93 Hz +[2026-09-16 23:40:13,109][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.00 Hz +[2026-09-16 23:40:18,119][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.81 iterations per second over 30.00 seconds. +[2026-09-16 23:40:18,119][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 58 times, mean step_time: 0.003849 s, max step_time: 0.022906 s +[2026-09-16 23:40:20,356][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.59 Hz +[2026-09-16 23:40:20,996][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.28 iterations per second over 30.00 seconds. +[2026-09-16 23:40:21,006][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 72 times, mean step_time: 0.003888 s, max step_time: 0.027031 s +[2026-09-16 23:40:23,107][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.46 Hz +[2026-09-16 23:40:30,359][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.63 Hz +[2026-09-16 23:40:33,109][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.46 Hz +[2026-09-16 23:40:39,252][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:40:39,252][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:40:40,359][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.09 Hz +[2026-09-16 23:40:43,110][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.66 Hz +[2026-09-16 23:40:48,122][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.54 iterations per second over 30.00 seconds. +[2026-09-16 23:40:48,122][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 122 times, mean step_time: 0.003960 s, max step_time: 0.029974 s +[2026-09-16 23:40:50,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.93 Hz +[2026-09-16 23:40:50,998][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.75 iterations per second over 30.00 seconds. +[2026-09-16 23:40:51,009][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 107 times, mean step_time: 0.003955 s, max step_time: 0.037085 s +[2026-09-16 23:40:53,110][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.49 Hz +[2026-09-16 23:41:00,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.00 Hz +[2026-09-16 23:41:03,112][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.07 Hz +[2026-09-16 23:41:10,366][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.53 Hz +[2026-09-16 23:41:13,113][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.04 Hz +[2026-09-16 23:41:18,122][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.57 iterations per second over 30.00 seconds. +[2026-09-16 23:41:18,122][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 118 times, mean step_time: 0.003975 s, max step_time: 0.015974 s +[2026-09-16 23:41:20,366][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.46 Hz +[2026-09-16 23:41:20,999][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.72 iterations per second over 30.00 seconds. +[2026-09-16 23:41:21,011][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 130 times, mean step_time: 0.003989 s, max step_time: 0.014576 s +[2026-09-16 23:41:23,116][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.94 Hz +[2026-09-16 23:41:30,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.62 Hz +[2026-09-16 23:41:33,117][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.66 Hz +[2026-09-16 23:41:40,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.93 Hz +[2026-09-16 23:41:42,970][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] +[2026-09-16 23:41:42,970][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] +[2026-09-16 23:41:43,165][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.61 Hz +[2026-09-16 23:41:48,124][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.35 iterations per second over 30.00 seconds. +[2026-09-16 23:41:48,125][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 139 times, mean step_time: 0.003994 s, max step_time: 0.045194 s +[2026-09-16 23:41:50,376][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.59 Hz +[2026-09-16 23:41:51,000][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.36 iterations per second over 30.00 seconds. +[2026-09-16 23:41:51,015][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 131 times, mean step_time: 0.003994 s, max step_time: 0.054948 s +[2026-09-16 23:41:53,164][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.25 Hz +[2026-09-16 23:42:00,380][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.21 Hz +[2026-09-16 23:42:03,164][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.06 Hz +[2026-09-16 23:42:10,380][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.88 Hz +[2026-09-16 23:42:13,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.18 Hz +[2026-09-16 23:42:18,125][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.00 iterations per second over 30.00 seconds. +[2026-09-16 23:42:18,128][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 108 times, mean step_time: 0.003984 s, max step_time: 0.012918 s +[2026-09-16 23:42:20,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.22 Hz +[2026-09-16 23:42:21,008][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.54 iterations per second over 30.01 seconds. +[2026-09-16 23:42:21,018][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 133 times, mean step_time: 0.004008 s, max step_time: 0.014229 s +[2026-09-16 23:42:23,170][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.46 Hz +[2026-09-16 23:42:29,713][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] +[2026-09-16 23:42:29,713][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] +[2026-09-16 23:42:30,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.30 Hz +[2026-09-16 23:42:33,171][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.72 Hz +[2026-09-16 23:42:40,388][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.08 Hz +[2026-09-16 23:42:43,171][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.57 Hz +[2026-09-16 23:42:48,127][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.42 iterations per second over 30.00 seconds. +[2026-09-16 23:42:48,131][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 56 times, mean step_time: 0.003915 s, max step_time: 0.026438 s +[2026-09-16 23:42:50,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.03 Hz +[2026-09-16 23:42:51,009][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.69 iterations per second over 30.00 seconds. +[2026-09-16 23:42:51,020][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 38 times, mean step_time: 0.003911 s, max step_time: 0.027994 s +[2026-09-16 23:42:53,176][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.91 Hz +[2026-09-16 23:43:00,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.65 Hz +[2026-09-16 23:43:03,177][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.09 Hz +[2026-09-16 23:43:10,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.18 Hz +[2026-09-16 23:43:13,177][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.18 Hz +[2026-09-16 23:43:18,128][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.12 iterations per second over 30.00 seconds. +[2026-09-16 23:43:18,132][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004047 s, max step_time: 0.009259 s +[2026-09-16 23:43:20,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.52 Hz +[2026-09-16 23:43:21,010][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 244.92 iterations per second over 30.00 seconds. +[2026-09-16 23:43:21,022][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004083 s, max step_time: 0.008492 s +[2026-09-16 23:43:23,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.02 Hz +[2026-09-16 23:43:30,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.57 Hz +[2026-09-16 23:43:31,862][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] +[2026-09-16 23:43:31,862][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] +[2026-09-16 23:43:33,183][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.42 Hz +[2026-09-16 23:43:40,402][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.01 Hz +[2026-09-16 23:43:43,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.79 Hz +[2026-09-16 23:43:48,131][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.68 iterations per second over 30.00 seconds. +[2026-09-16 23:43:48,135][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003989 s, max step_time: 0.026497 s +[2026-09-16 23:43:50,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.52 Hz +[2026-09-16 23:43:51,012][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.62 iterations per second over 30.00 seconds. +[2026-09-16 23:43:51,025][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: 0.045353 s +[2026-09-16 23:43:53,191][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.11 Hz +[2026-09-16 23:44:00,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.70 Hz +[2026-09-16 23:44:03,191][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.50 Hz +[2026-09-16 23:44:10,406][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.37 Hz +[2026-09-16 23:44:13,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.24 Hz +[2026-09-16 23:44:18,133][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.45 iterations per second over 30.00 seconds. +[2026-09-16 23:44:18,137][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.004041 s, max step_time: 0.010431 s +[2026-09-16 23:44:20,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.54 Hz +[2026-09-16 23:44:21,015][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.78 iterations per second over 30.00 seconds. +[2026-09-16 23:44:21,029][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.004069 s, max step_time: 0.049979 s +[2026-09-16 23:44:23,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.41 Hz +[2026-09-16 23:44:23,780][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] +[2026-09-16 23:44:23,780][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] +[2026-09-16 23:44:30,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.36 Hz +[2026-09-16 23:44:33,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.97 Hz +[2026-09-16 23:44:40,412][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.04 Hz +[2026-09-16 23:44:43,201][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.53 Hz +[2026-09-16 23:44:48,136][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.90 iterations per second over 30.00 seconds. +[2026-09-16 23:44:48,140][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003970 s, max step_time: 0.045785 s +[2026-09-16 23:44:50,415][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.74 Hz +[2026-09-16 23:44:51,017][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.18 iterations per second over 30.00 seconds. +[2026-09-16 23:44:51,030][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003981 s, max step_time: 0.091456 s +[2026-09-16 23:44:53,203][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.07 Hz +[2026-09-16 23:45:00,419][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.05 Hz +[2026-09-16 23:45:03,206][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.03 Hz +[2026-09-16 23:45:08,923][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] +[2026-09-16 23:45:08,923][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] +[2026-09-16 23:45:10,419][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.64 Hz +[2026-09-16 23:45:13,208][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.43 Hz +[2026-09-16 23:45:18,137][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.66 iterations per second over 30.00 seconds. +[2026-09-16 23:45:18,141][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004005 s, max step_time: 0.028368 s +[2026-09-16 23:45:20,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.87 Hz +[2026-09-16 23:45:21,021][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.51 iterations per second over 30.00 seconds. +[2026-09-16 23:45:21,032][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.004008 s, max step_time: 0.022091 s +[2026-09-16 23:45:23,211][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.25 Hz +[2026-09-16 23:45:30,425][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.43 Hz +[2026-09-16 23:45:33,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.35 Hz +[2026-09-16 23:45:40,426][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.26 Hz +[2026-09-16 23:45:43,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.99 Hz +[2026-09-16 23:45:48,142][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.66 iterations per second over 30.01 seconds. +[2026-09-16 23:45:48,142][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 99 times, mean step_time: 0.004022 s, max step_time: 0.015478 s +[2026-09-16 23:45:50,432][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.65 Hz +[2026-09-16 23:45:51,024][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.87 iterations per second over 30.00 seconds. +[2026-09-16 23:45:51,032][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 111 times, mean step_time: 0.004051 s, max step_time: 0.017080 s +[2026-09-16 23:45:53,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.86 Hz +[2026-09-16 23:46:00,433][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.59 Hz +[2026-09-16 23:46:03,216][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.26 Hz +[2026-09-16 23:46:03,910][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] +[2026-09-16 23:46:03,911][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:46:10,434][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.55 Hz +[2026-09-16 23:46:13,219][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.15 Hz +[2026-09-16 23:46:18,144][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.58 iterations per second over 30.00 seconds. +[2026-09-16 23:46:18,144][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 115 times, mean step_time: 0.003959 s, max step_time: 0.034536 s +[2026-09-16 23:46:20,437][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.22 Hz +[2026-09-16 23:46:21,026][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.58 iterations per second over 30.00 seconds. +[2026-09-16 23:46:21,035][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 98 times, mean step_time: 0.003975 s, max step_time: 0.042023 s +[2026-09-16 23:46:23,220][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.76 Hz +[2026-09-16 23:46:30,441][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.23 Hz +[2026-09-16 23:46:33,220][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.20 Hz +[2026-09-16 23:46:40,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.27 Hz +[2026-09-16 23:46:43,221][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.87 Hz +[2026-09-16 23:46:48,146][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.68 iterations per second over 30.00 seconds. +[2026-09-16 23:46:48,146][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 165 times, mean step_time: 0.004037 s, max step_time: 0.021355 s +[2026-09-16 23:46:49,555][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] +[2026-09-16 23:46:49,555][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] +[2026-09-16 23:46:50,443][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.39 Hz +[2026-09-16 23:46:51,027][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.72 iterations per second over 30.00 seconds. +[2026-09-16 23:46:51,035][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 157 times, mean step_time: 0.004053 s, max step_time: 0.037495 s +[2026-09-16 23:46:53,224][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.21 Hz +[2026-09-16 23:47:00,444][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.56 Hz +[2026-09-16 23:47:03,226][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.67 Hz +[2026-09-16 23:47:10,446][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.12 Hz +[2026-09-16 23:47:13,229][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.64 Hz +[2026-09-16 23:47:18,149][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.71 iterations per second over 30.00 seconds. +[2026-09-16 23:47:18,149][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 111 times, mean step_time: 0.003973 s, max step_time: 0.028999 s +[2026-09-16 23:47:20,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.83 Hz +[2026-09-16 23:47:21,030][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.31 iterations per second over 30.00 seconds. +[2026-09-16 23:47:21,039][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 105 times, mean step_time: 0.003979 s, max step_time: 0.016012 s +[2026-09-16 23:47:23,231][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.33 Hz +[2026-09-16 23:47:30,451][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.67 Hz +[2026-09-16 23:47:33,234][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.42 Hz +[2026-09-16 23:47:40,451][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.80 Hz +[2026-09-16 23:47:43,237][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.27 Hz +[2026-09-16 23:47:48,154][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.49 iterations per second over 30.00 seconds. +[2026-09-16 23:47:48,154][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 148 times, mean step_time: 0.004057 s, max step_time: 0.016286 s +[2026-09-16 23:47:48,371][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] +[2026-09-16 23:47:48,371][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] +[2026-09-16 23:47:50,454][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.72 Hz +[2026-09-16 23:47:51,033][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.07 iterations per second over 30.00 seconds. +[2026-09-16 23:47:51,041][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 140 times, mean step_time: 0.004064 s, max step_time: 0.078285 s +[2026-09-16 23:47:53,236][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.28 Hz +[2026-09-16 23:48:00,456][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.64 Hz +[2026-09-16 23:48:03,239][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.92 Hz +[2026-09-16 23:48:10,459][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.33 Hz +[2026-09-16 23:48:13,240][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.48 Hz +[2026-09-16 23:48:18,157][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.77 iterations per second over 30.00 seconds. +[2026-09-16 23:48:18,158][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003941 s, max step_time: 0.110649 s +[2026-09-16 23:48:20,462][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.62 Hz +[2026-09-16 23:48:21,035][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.45 iterations per second over 30.00 seconds. +[2026-09-16 23:48:21,043][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003946 s, max step_time: 0.055650 s +[2026-09-16 23:48:23,246][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.99 Hz +[2026-09-16 23:48:30,467][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.91 Hz +[2026-09-16 23:48:33,241][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.30 Hz +[2026-09-16 23:48:40,467][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.17 Hz +[2026-09-16 23:48:43,245][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.54 Hz +[2026-09-16 23:48:44,778][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] +[2026-09-16 23:48:44,778][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] +[2026-09-16 23:48:48,157][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 244.97 iterations per second over 30.00 seconds. +[2026-09-16 23:48:48,161][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004082 s, max step_time: 0.040311 s +[2026-09-16 23:48:50,470][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.14 Hz +[2026-09-16 23:48:51,037][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.15 iterations per second over 30.00 seconds. +[2026-09-16 23:48:51,045][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004079 s, max step_time: 0.026685 s +[2026-09-16 23:48:53,245][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.85 Hz +[2026-09-16 23:49:00,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.87 Hz +[2026-09-16 23:49:03,248][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.64 Hz +[2026-09-16 23:49:10,474][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.53 Hz +[2026-09-16 23:49:13,250][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.42 Hz +[2026-09-16 23:49:18,158][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.02 iterations per second over 30.00 seconds. +[2026-09-16 23:49:18,162][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003984 s, max step_time: 0.008772 s +[2026-09-16 23:49:20,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.25 Hz +[2026-09-16 23:49:21,039][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.85 iterations per second over 30.00 seconds. +[2026-09-16 23:49:21,047][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004035 s, max step_time: 0.009901 s +[2026-09-16 23:49:23,255][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.60 Hz +[2026-09-16 23:49:29,955][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] +[2026-09-16 23:49:29,955][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] +[2026-09-16 23:49:30,479][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.11 Hz +[2026-09-16 23:49:33,257][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.34 Hz +[2026-09-16 23:49:40,480][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.68 Hz +[2026-09-16 23:49:43,261][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.92 Hz +[2026-09-16 23:49:48,159][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.60 iterations per second over 30.00 seconds. +[2026-09-16 23:49:48,163][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004006 s, max step_time: 0.043843 s +[2026-09-16 23:49:50,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.06 Hz +[2026-09-16 23:49:51,040][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.89 iterations per second over 30.00 seconds. +[2026-09-16 23:49:51,049][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004034 s, max step_time: 0.022612 s +[2026-09-16 23:49:53,262][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.36 Hz +[2026-09-16 23:50:00,483][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.06 Hz +[2026-09-16 23:50:03,263][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.17 Hz +[2026-09-16 23:50:10,488][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.42 Hz +[2026-09-16 23:50:13,265][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.48 Hz +[2026-09-16 23:50:18,160][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 245.95 iterations per second over 30.00 seconds. +[2026-09-16 23:50:18,165][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.004066 s, max step_time: 0.008448 s +[2026-09-16 23:50:20,487][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.98 Hz +[2026-09-16 23:50:21,042][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.51 iterations per second over 30.00 seconds. +[2026-09-16 23:50:21,051][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004073 s, max step_time: 0.009867 s +[2026-09-16 23:50:23,266][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.96 Hz +[2026-09-16 23:50:23,768][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] +[2026-09-16 23:50:23,801][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] +[2026-09-16 23:50:28,617][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.31 iterations per second over 7.57 seconds. +[2026-09-16 23:50:28,626][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.07 iterations per second over 10.47 seconds. diff --git a/eval/YAM/V2/dp/spatula_handoff/metadata/runtime/output.lock b/eval/YAM/V2/dp/spatula_handoff/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391