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a/eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/config.yaml b/eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/config.yaml deleted file mode 100644 index c07a464e13cdce3d29d6ce4baab4ff3fa228fb48..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/config.yaml +++ /dev/null @@ -1,239 +0,0 @@ -ros: - localhost_only: true -run: - id: ${now:%Y%m%d_%H%M%S_%f} - output_dir: outputs/openpi_rollout/six_task_5000/pickbread/${run.id} - steps: 10 - wait_ready_timeout_s: 30.0 - runtime_dir: ${run.output_dir}/runtime - action_steps: 30 -policy: - host: 127.0.0.1 - port: 8000 - prompt: Pick up the slice of bread from the large pan and place it in the small - pan. - action_hz: 30.0 - slop_ms: 20.0 - observation_wait_timeout_s: 1.0 - max_observation_age_s: 0.5 - connect_timeout_s: 10.0 - response_timeout_s: 120.0 -data: - history: 64 - bridge: - enabled: true - name: openpi_observe_${run.id} - wait_all_streams: true - qos_depth: 10 - stamp_source: header - sensor_qos: reliable - streams: - robot_state: - topic: /prometheus/robots/yam/state - msg_type: sensor_msgs.msg.JointState - domain: robot - ros_domain_id: 21 - base_0_color: - topic: /prometheus/sensors/cameras/base_0/color/image_raw - msg_type: sensor_msgs.msg.Image - domain: sensor - ros_domain_id: 22 - left_wrist_0_color: - topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw - msg_type: sensor_msgs.msg.Image - domain: sensor - ros_domain_id: 22 - right_wrist_0_color: - topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw - msg_type: sensor_msgs.msg.Image - domain: sensor - ros_domain_id: 22 - name: openpi_data - mode: owned - numpy: - enabled: true - recording: - enabled: true - output_dir: ${run.output_dir}/episodes - 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: - - 2.167985339164734 - - 2.5182173085212707 - - 3.223614091873169 - - 3.5294504594802856 - - 2.9079120349884033 - - 4.417362494468689 - - 0.43312741816043854 - - 2.8881806564331054 - - 3.57877890586853 - - 4.925445733070373 - - 5.793626389503479 - - 6.933113741874695 - - 2.582344288825989 - - 0.4438962382078171 - 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: - - 2.442312578029071 - - 2.4975373811192143 - - 3.013320137018569 - - 3.6631475333123924 - - 3.9407490468034494 - - 7.2432644923512814 - - 1.516527975483024 - - 3.180863855282635 - - 5.499279518310686 - - 6.393740554956087 - - 6.757101739369718 - - 4.424769858420448 - - 4.669718434214604 - - 1.5880624334517093 - acceleration_limits: - - 39.5808810005585 - - 55.004043830233 - - 44.68060229799783 - - 91.62133280935228 - - 65.08588851988291 - - 151.51135987043372 - - 36.46975939521742 - - 59.49779678765172 - - 158.88149769882136 - - 185.96936248422384 - - 195.72700673668703 - - 120.72372674974524 - - 69.6267755117399 - - 69.63367811564663 - 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: 0.5 - max_schedule_lateness_s: 0.035 - command_ack_timeout_s: 0.1 -hardware: - name: openpi_hardware - mode: owned - sensors: auto - streams: auto -preview: - enabled: true - mode: local - ui_mode: openpi - window: Pi0.5 - Async execution - width: 1280 - height: 720 - fps: 20.0 - stale_timeout_s: 1.0 - host: 127.0.0.1 - port: 7860 - refresh_ms: 100 diff --git a/eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/hydra.yaml b/eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/hydra.yaml deleted file mode 100644 index cd052f6a161b1f559fb4ba0b75300a45edd0a3c4..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/hydra.yaml +++ /dev/null @@ -1,161 +0,0 @@ -hydra: - run: - dir: ${run.output_dir}/hydra - sweep: - dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} - subdir: ${hydra.job.num} - launcher: - _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher - sweeper: - _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper - max_batch_size: null - params: null - help: - app_name: ${hydra.job.name} - header: '${hydra.help.app_name} is powered by Hydra. - - ' - footer: 'Powered by Hydra (https://hydra.cc) - - Use --hydra-help to view Hydra specific help - - ' - template: '${hydra.help.header} - - == Configuration groups == - - Compose your configuration from those groups (group=option) - - - $APP_CONFIG_GROUPS - - - == Config == - - Override anything in the config (foo.bar=value) - - - $CONFIG - - - ${hydra.help.footer} - - ' - hydra_help: - template: 'Hydra (${hydra.runtime.version}) - - See https://hydra.cc for more info. - - - == Flags == - - $FLAGS_HELP - - - == Configuration groups == - - Compose your configuration from those groups (For example, append hydra/job_logging=disabled - to command line) - - - $HYDRA_CONFIG_GROUPS - - - Use ''--cfg hydra'' to Show the Hydra config. - - ' - hydra_help: ??? - hydra_logging: - version: 1 - formatters: - simple: - format: '[%(asctime)s][HYDRA] %(message)s' - handlers: - console: - class: logging.StreamHandler - formatter: simple - stream: ext://sys.stdout - root: - level: INFO - handlers: - - console - loggers: - logging_example: - level: DEBUG - disable_existing_loggers: false - job_logging: - version: 1 - formatters: - simple: - format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' - handlers: - console: - class: logging.StreamHandler - formatter: simple - stream: ext://sys.stdout - file: - class: logging.FileHandler - formatter: simple - filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log - root: - level: INFO - handlers: - - console - - file - disable_existing_loggers: false - env: {} - mode: RUN - searchpath: [] - callbacks: {} - output_subdir: .hydra - overrides: - hydra: - - hydra.mode=RUN - task: - - execute=true - - policy.host=127.0.0.1 - - policy.port=8000 - - run.steps=10 - - run.action_steps=30 - - async_inference.enabled=false - job: - name: openpi_rollout - chdir: false - override_dirname: async_inference.enabled=false,execute=true,policy.host=127.0.0.1,policy.port=8000,run.action_steps=30,run.steps=10 - id: ??? - num: ??? - config_name: openpi_six_tasks_5000_pickbread - env_set: {} - env_copy: [] - config: - override_dirname: - kv_sep: '=' - item_sep: ',' - exclude_keys: [] - runtime: - version: 1.3.6 - version_base: '1.3' - cwd: /home/romoya-1/openpi-workspace/PrometheusV2 - config_sources: - - path: hydra.conf - schema: pkg - provider: hydra - - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs - schema: file - provider: main - - path: '' - schema: structured - provider: schema - output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/six_task_5000/pickbread/20260915_150454_483819/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/pick_bread/data/round_0002/debug/hydra/.hydra/overrides.yaml b/eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/overrides.yaml deleted file mode 100644 index 5cfe2aff47cca7f0f6c9101661554fdd89032ec9..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0002/debug/hydra/.hydra/overrides.yaml +++ /dev/null @@ -1,6 +0,0 @@ -- execute=true -- policy.host=127.0.0.1 -- policy.port=8000 -- run.steps=10 -- run.action_steps=30 -- async_inference.enabled=false diff --git a/eval/YAM/pick_bread/data/round_0002/debug/hydra/openpi_rollout.log b/eval/YAM/pick_bread/data/round_0002/debug/hydra/openpi_rollout.log deleted file mode 100644 index d8188e5e97e0f42fc8f262a969503ac7db8a6185..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0002/debug/hydra/openpi_rollout.log +++ /dev/null @@ -1,259 +0,0 @@ -[2026-09-15 15:04:54,808][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml -[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) -[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) -[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] -[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] -[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] -[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] -[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] -[2026-09-15 15:04:54,809][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) -[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] - motor_type: DM4310 -[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] - motor_kp: 20.0 -[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] - motor_kd: 0.5 -[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] - gripper_limits: None -[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] - needs_calibration: True -[2026-09-15 15:04:54,810][i2rt.robots.utils][INFO] - motor_direction: 1 -[2026-09-15 15:04:54,810][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} -[2026-09-15 15:04:54,811][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 -[2026-09-15 15:04:54,811][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 -[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 15:04:54,811][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 15:04:54,811][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 15:04:54,811][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 -[2026-09-15 15:04:54,811][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 -[2026-09-15 15:04:54,813][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:04:54,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 15:04:54,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 -[2026-09-15 15:04:54,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:04:54,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 15:04:54,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:54,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:04:54,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 15:04:54,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:54,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:04:54,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 15:04:54,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:54,946][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:04:54,957][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 15:04:54,968][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:54,979][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:04:54,990][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 15:04:55,001][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:55,012][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:04:55,023][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 15:04:55,034][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:55,045][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:04:55,045][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) -[2026-09-15 15:04:55,045][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 -[2026-09-15 15:04:55,045][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:04:55,100][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 -[2026-09-15 15:04:55,155][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 -[2026-09-15 15:04:55,210][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 -[2026-09-15 15:04:55,266][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 -[2026-09-15 15:04:55,321][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 -[2026-09-15 15:04:55,376][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 -[2026-09-15 15:04:55,431][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 -[2026-09-15 15:04:55,431][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) -[2026-09-15 15:04:55,431][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:04:55,431][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 15:04:55,443][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 15:04:55,448][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 15:04:55,455][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 15:04:55,462][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 15:04:55,469][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 15:04:55,474][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 15:04:55,483][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 15:04:55,489][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] -[2026-09-15 15:04:55,489][root][INFO] - current_pos: [0.007820248722056888, -0.000953688868543523, 0.0017166399633783413, 0.0001907377737087046, 0.011253528648813571, -0.0005722133211261138, 0.019645990691996573] -[2026-09-15 15:04:55,489][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -[2026-09-15 15:04:55,489][root][INFO] - starting separate thread for control loop -[2026-09-15 15:04:55,590][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.008201724269474298, voltage=-1, temp_mos=26.0, temp_rotor=23.0, timestamp=1789455895.59016), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789455895.59016), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789455895.59016), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.00019073777370515188, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789455895.59016), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.011253528648813571, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789455895.59016), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0005722133211261138, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789455895.59016), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.019645990691996573, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789455895.59016)] -[2026-09-15 15:04:55,590][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 15:04:55,590][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0196 -[2026-09-15 15:04:55,590][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 15:04:56,259][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2638 -[2026-09-15 15:04:56,560][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 15:04:57,186][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 -[2026-09-15 15:04:57,486][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.296597238117037, -0.006675822079804661) -[2026-09-15 15:04:57,487][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.29659724 -0.00667582] -[2026-09-15 15:04:57,734][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 -[2026-09-15 15:04:57,734][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 -[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 15:04:57,734][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 15:04:57,735][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 15:04:57,735][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 15:04:57,735][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 15:04:57,735][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 15:04:57,735][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 -[2026-09-15 15:04:57,735][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 -[2026-09-15 15:04:57,735][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:04:57,736][root][INFO] - initializing, .... -[2026-09-15 15:04:57,746][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 15:04:57,757][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:57,768][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:04:57,779][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 15:04:57,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:57,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:04:57,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 15:04:57,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:57,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:04:57,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 15:04:57,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:57,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:04:57,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 15:04:57,889][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:57,900][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:04:57,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 15:04:57,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:57,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:04:57,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 15:04:57,955][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:04:57,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:04:57,966][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) -[2026-09-15 15:04:57,966][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 -[2026-09-15 15:04:57,966][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:04:58,021][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 -[2026-09-15 15:04:58,077][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 -[2026-09-15 15:04:58,132][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 -[2026-09-15 15:04:58,187][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 -[2026-09-15 15:04:58,242][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 -[2026-09-15 15:04:58,297][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 -[2026-09-15 15:04:58,352][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 -[2026-09-15 15:04:58,352][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) -[2026-09-15 15:04:58,352][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:04:58,352][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 15:04:58,363][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 15:04:58,368][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 15:04:58,375][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 15:04:58,381][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 15:04:58,387][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 15:04:58,393][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 15:04:58,400][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 15:04:58,406][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] -[2026-09-15 15:04:58,406][root][INFO] - current_pos: [0.04444190127412817, -0.0013351644159609322, 0.000953688868543523, 0.000953688868543523, -0.022316319523918438, -0.010109102006561344, -6.286526283665217] -[2026-09-15 15:04:58,406][root][INFO] - motor 6 pos=-6.287, offset -2π -[2026-09-15 15:04:58,406][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -6.283185307179586] -[2026-09-15 15:04:58,406][root][INFO] - starting separate thread for control loop -[2026-09-15 15:04:58,507][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=0.04482337682154558, voltage=-1, temp_mos=26.0, temp_rotor=23.0, timestamp=1789455898.5075579), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789455898.5075579), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789455898.5075579), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789455898.5075579), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.022316319523918438, voltage=-1, temp_mos=26.0, temp_rotor=26.0, timestamp=1789455898.5075579), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.010109102006561344, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789455898.5075579), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.003340976485630698, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1789455898.5075579)] -[2026-09-15 15:04:58,507][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 15:04:58,507][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0033 -[2026-09-15 15:04:58,507][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 15:04:59,185][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2515 -[2026-09-15 15:04:59,486][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 15:05:00,106][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0087 -[2026-09-15 15:05:00,406][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.251484689189202, -0.008681634149474426) -[2026-09-15 15:05:00,406][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25148469 -0.00868163] -[2026-09-15 15:05:00,545][root][INFO] - initializing, .... -[2026-09-15 15:05:07,741][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 236.81 Hz -[2026-09-15 15:05:10,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 231.27 Hz -[2026-09-15 15:05:17,745][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 231.62 Hz -[2026-09-15 15:05:20,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.35 Hz -[2026-09-15 15:05:25,492][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 239.64 iterations per second over 30.00 seconds. -[2026-09-15 15:05:25,492][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.004172 s, max step_time: 0.069246 s -[2026-09-15 15:05:27,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.73 Hz -[2026-09-15 15:05:28,410][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 238.67 iterations per second over 30.00 seconds. -[2026-09-15 15:05:28,410][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.004189 s, max step_time: 0.070200 s -[2026-09-15 15:05:30,551][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.19 Hz -[2026-09-15 15:05:37,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.46 Hz -[2026-09-15 15:05:40,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.94 Hz -[2026-09-15 15:05:47,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.59 Hz -[2026-09-15 15:05:48,029][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] -[2026-09-15 15:05:48,029][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] -[2026-09-15 15:05:50,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.28 Hz -[2026-09-15 15:05:55,496][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 242.87 iterations per second over 30.00 seconds. -[2026-09-15 15:05:55,496][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.004117 s, max step_time: 0.007826 s -[2026-09-15 15:05:57,753][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.81 Hz -[2026-09-15 15:05:58,412][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 243.75 iterations per second over 30.00 seconds. -[2026-09-15 15:05:58,412][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.004103 s, max step_time: 0.008928 s -[2026-09-15 15:06:00,556][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.61 Hz -[2026-09-15 15:06:07,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 240.44 Hz -[2026-09-15 15:06:10,561][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.02 Hz -[2026-09-15 15:06:17,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 233.96 Hz -[2026-09-15 15:06:20,562][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 234.35 Hz -[2026-09-15 15:06:25,497][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 235.56 iterations per second over 30.00 seconds. -[2026-09-15 15:06:25,497][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004245 s, max step_time: 0.027564 s -[2026-09-15 15:06:27,757][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 232.78 Hz -[2026-09-15 15:06:28,414][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 237.89 iterations per second over 30.00 seconds. -[2026-09-15 15:06:28,414][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.004204 s, max step_time: 0.025993 s -[2026-09-15 15:06:30,564][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.95 Hz -[2026-09-15 15:06:37,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.04 Hz -[2026-09-15 15:06:40,564][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.79 Hz -[2026-09-15 15:06:47,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 239.92 Hz -[2026-09-15 15:06:50,567][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.23 Hz -[2026-09-15 15:06:55,501][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 240.47 iterations per second over 30.00 seconds. -[2026-09-15 15:06:55,502][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004159 s, max step_time: 0.007872 s -[2026-09-15 15:06:57,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 233.89 Hz -[2026-09-15 15:06:58,417][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 241.04 iterations per second over 30.00 seconds. -[2026-09-15 15:06:58,418][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004149 s, max step_time: 0.027934 s -[2026-09-15 15:07:00,570][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 237.23 Hz -[2026-09-15 15:07:07,771][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.84 Hz -[2026-09-15 15:07:10,572][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.93 Hz -[2026-09-15 15:07:17,775][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 240.79 Hz -[2026-09-15 15:07:20,572][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.90 Hz -[2026-09-15 15:07:25,503][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 241.71 iterations per second over 30.00 seconds. -[2026-09-15 15:07:25,503][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.004137 s, max step_time: 0.027007 s -[2026-09-15 15:07:27,778][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.81 Hz -[2026-09-15 15:07:28,421][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.04 iterations per second over 30.00 seconds. -[2026-09-15 15:07:28,421][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.004081 s, max step_time: 0.007213 s -[2026-09-15 15:07:30,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.16 Hz -[2026-09-15 15:07:37,781][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 238.33 Hz -[2026-09-15 15:07:40,577][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.14 Hz -[2026-09-15 15:07:47,782][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 236.49 Hz -[2026-09-15 15:07:50,580][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.54 Hz -[2026-09-15 15:07:55,506][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 239.21 iterations per second over 30.00 seconds. -[2026-09-15 15:07:55,506][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004180 s, max step_time: 0.022537 s -[2026-09-15 15:07:57,782][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.10 Hz -[2026-09-15 15:07:58,424][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 241.24 iterations per second over 30.00 seconds. -[2026-09-15 15:07:58,424][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004145 s, max step_time: 0.026606 s -[2026-09-15 15:08:00,581][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.26 Hz -[2026-09-15 15:08:07,783][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.98 Hz -[2026-09-15 15:08:10,581][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.78 Hz -[2026-09-15 15:08:17,561][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] -[2026-09-15 15:08:17,561][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] -[2026-09-15 15:08:17,783][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.59 Hz -[2026-09-15 15:08:20,584][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.14 Hz -[2026-09-15 15:08:25,510][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 245.37 iterations per second over 30.00 seconds. -[2026-09-15 15:08:25,510][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.004075 s, max step_time: 0.007990 s -[2026-09-15 15:08:27,787][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.91 Hz -[2026-09-15 15:08:28,424][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.80 iterations per second over 30.00 seconds. -[2026-09-15 15:08:28,424][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.004068 s, max step_time: 0.008070 s -[2026-09-15 15:08:30,584][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.29 Hz -[2026-09-15 15:08:37,791][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.41 Hz -[2026-09-15 15:08:40,587][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.22 Hz -[2026-09-15 15:08:47,794][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.12 Hz -[2026-09-15 15:08:50,593][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.60 Hz -[2026-09-15 15:08:55,512][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 242.01 iterations per second over 30.00 seconds. -[2026-09-15 15:08:55,512][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.004132 s, max step_time: 0.009419 s -[2026-09-15 15:08:57,795][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.49 Hz -[2026-09-15 15:08:58,425][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 242.43 iterations per second over 30.00 seconds. -[2026-09-15 15:08:58,426][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.004125 s, max step_time: 0.009995 s -[2026-09-15 15:09:00,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.09 Hz -[2026-09-15 15:09:07,797][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.52 Hz -[2026-09-15 15:09:10,597][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.44 Hz -[2026-09-15 15:09:17,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.64 Hz -[2026-09-15 15:09:20,598][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.51 Hz -[2026-09-15 15:09:25,513][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 241.76 iterations per second over 30.00 seconds. -[2026-09-15 15:09:25,513][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 129 times, mean step_time: 0.004136 s, max step_time: 0.012996 s -[2026-09-15 15:09:27,808][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.44 Hz -[2026-09-15 15:09:28,426][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 242.33 iterations per second over 30.00 seconds. -[2026-09-15 15:09:28,426][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 103 times, mean step_time: 0.004127 s, max step_time: 0.012198 s -[2026-09-15 15:09:30,599][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.19 Hz -[2026-09-15 15:09:37,805][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.73 Hz -[2026-09-15 15:09:40,600][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.99 Hz -[2026-09-15 15:09:47,809][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 236.73 Hz -[2026-09-15 15:09:50,602][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.26 Hz -[2026-09-15 15:09:55,517][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 241.30 iterations per second over 30.00 seconds. -[2026-09-15 15:09:55,517][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 93 times, mean step_time: 0.004144 s, max step_time: 0.013796 s -[2026-09-15 15:09:55,717][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 242.13 iterations per second over 27.29 seconds. -[2026-09-15 15:09:55,727][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 242.96 iterations per second over 0.21 seconds. diff --git a/eval/YAM/pick_bread/data/round_0002/debug/predictions/prediction_0000.npz b/eval/YAM/pick_bread/data/round_0002/debug/predictions/prediction_0000.npz deleted file mode 100644 index fa353cdf89d9b676bac1a886011c59569cfa38d0..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0002/debug/predictions/prediction_0000.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3fe68368d0832a24c2a6b68dd1937edd59055b2242eb3600468abc8382d4235c -size 175826 diff --git a/eval/YAM/pick_bread/data/round_0002/debug/predictions/prediction_0001.npz b/eval/YAM/pick_bread/data/round_0002/debug/predictions/prediction_0001.npz deleted file mode 100644 index f7ba1f4a1bd1dee9baa2d7e6068656b316125e00..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0002/debug/predictions/prediction_0001.npz +++ /dev/null @@ -1,3 +0,0 @@ -version 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"observation_age_ms": 128.42520099366084, "blended_steps": 5} -{"event": "prediction_requested", "time_ns": 1789456577769181086, "actions_sent": 518, "prediction": 31, "queue_remaining": 12} -{"event": "plan_adopted", "time_ns": 1789456577871735329, "actions_sent": 521, "prediction": 31, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 105.42875400278717, "blended_steps": 5} -{"event": "prediction_requested", "time_ns": 1789456578340919444, "actions_sent": 535, "prediction": 32, "queue_remaining": 12} -{"event": "plan_adopted", "time_ns": 1789456578445721697, "actions_sent": 538, "prediction": 32, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.58187397010624, "blended_steps": 5} -{"event": "prediction_requested", "time_ns": 1789456578881540747, "actions_sent": 551, "prediction": 33, "queue_remaining": 12} -{"event": "plan_adopted", "time_ns": 1789456578989743260, "actions_sent": 554, "prediction": 33, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.1184440026991, "blended_steps": 5} -{"event": "prediction_requested", "time_ns": 1789456579460076463, "actions_sent": 568, "prediction": 34, "queue_remaining": 12} -{"event": "plan_adopted", "time_ns": 1789456579565542951, "actions_sent": 571, "prediction": 34, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.75889701535925, "blended_steps": 5} -{"event": "prediction_requested", "time_ns": 1789456580036133686, "actions_sent": 585, "prediction": 35, "queue_remaining": 12} -{"event": "plan_adopted", "time_ns": 1789456580137930013, "actions_sent": 588, "prediction": 35, "queue_remaining": 12, "skipped_prefix": 5, "observation_age_ms": 138.13892705366015, "blended_steps": 5} -{"event": "completed", "time_ns": 1789456580540069390, "actions_sent": 600, "predictions_requested": 36} diff --git a/eval/YAM/pick_bread/data/round_0007/debug/hydra/.hydra/config.yaml b/eval/YAM/pick_bread/data/round_0007/debug/hydra/.hydra/config.yaml deleted file mode 100644 index a51c84301a6ec45217093f19b2527eebd8563efe..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/hydra/.hydra/config.yaml +++ /dev/null @@ -1,239 +0,0 @@ -ros: - localhost_only: true -run: - id: ${now:%Y%m%d_%H%M%S_%f} - output_dir: outputs/openpi_rollout/six_task_5000/pickbread/${run.id} - steps: 20 - wait_ready_timeout_s: 30.0 - runtime_dir: ${run.output_dir}/runtime - action_steps: 30 -policy: - host: 127.0.0.1 - port: 8000 - prompt: Pick up the slice of bread from the large pan and place it in the small - pan. - action_hz: 30.0 - slop_ms: 20.0 - observation_wait_timeout_s: 1.0 - max_observation_age_s: 0.5 - connect_timeout_s: 10.0 - response_timeout_s: 120.0 -data: - history: 64 - bridge: - enabled: true - name: openpi_observe_${run.id} - wait_all_streams: true - qos_depth: 10 - stamp_source: header - sensor_qos: reliable - streams: - robot_state: - topic: /prometheus/robots/yam/state - msg_type: sensor_msgs.msg.JointState - domain: robot - ros_domain_id: 21 - base_0_color: - topic: /prometheus/sensors/cameras/base_0/color/image_raw - msg_type: sensor_msgs.msg.Image - domain: sensor - ros_domain_id: 22 - left_wrist_0_color: - topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw - msg_type: sensor_msgs.msg.Image - domain: sensor - ros_domain_id: 22 - right_wrist_0_color: - topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw - msg_type: sensor_msgs.msg.Image - domain: sensor - ros_domain_id: 22 - name: openpi_data - mode: owned - numpy: - enabled: true - recording: - enabled: true - output_dir: ${run.output_dir}/episodes - 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: - - 2.167985339164734 - - 2.5182173085212707 - - 3.223614091873169 - - 3.5294504594802856 - - 2.9079120349884033 - - 4.417362494468689 - - 0.43312741816043854 - - 2.8881806564331054 - - 3.57877890586853 - - 4.925445733070373 - - 5.793626389503479 - - 6.933113741874695 - - 2.582344288825989 - - 0.4438962382078171 - 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: - - 2.442312578029071 - - 2.4975373811192143 - - 3.013320137018569 - - 3.6631475333123924 - - 3.9407490468034494 - - 7.2432644923512814 - - 1.516527975483024 - - 3.180863855282635 - - 5.499279518310686 - - 6.393740554956087 - - 6.757101739369718 - - 4.424769858420448 - - 4.669718434214604 - - 1.5880624334517093 - acceleration_limits: - - 39.5808810005585 - - 55.004043830233 - - 44.68060229799783 - - 91.62133280935228 - - 65.08588851988291 - - 151.51135987043372 - - 36.46975939521742 - - 59.49779678765172 - - 158.88149769882136 - - 185.96936248422384 - - 195.72700673668703 - - 120.72372674974524 - - 69.6267755117399 - - 69.63367811564663 - tracking_error_limits: - - 0.20073625504970552 - - 0.309388148188591 - - 0.29782940477132797 - - 0.22655070275068284 - - 0.5001068050414323 - - 0.7771305423974991 - - 0.06952205713838339 - - 0.268162048868835 - - 0.3556229412555695 - - 0.4542571985721588 - - 0.3109293460845947 - - 1.0653276860713958 - - 0.45733958966098726 - - 0.07211417473852634 - cameras: - capture_hz: 30 - capture_width: 640 - capture_height: 480 - publish_hz: 30 - collect_ir: false - ir: false - prepub_resize: 1.0 - camera_info: false - serial_no: - base_0: '260322272085' - left_wrist_0: '260422275825' - right_wrist_0: '260322279382' - qos: reliable -execute: true -async_inference: - enabled: true - prefetch_steps: 12 - blend_steps: 5 -execution: - hold_settle_s: 0.2 - hold_settle_timeout_s: 5.0 - max_prediction_age_s: 0.5 - max_schedule_lateness_s: 0.035 - command_ack_timeout_s: 0.1 -hardware: - name: openpi_hardware - mode: owned - sensors: auto - streams: auto -preview: - enabled: true - mode: local - ui_mode: openpi - window: Pi0.5 - Async execution - width: 1280 - height: 720 - fps: 20.0 - stale_timeout_s: 1.0 - host: 127.0.0.1 - port: 7860 - refresh_ms: 100 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/hydra/.hydra/hydra.yaml b/eval/YAM/pick_bread/data/round_0007/debug/hydra/.hydra/hydra.yaml deleted file mode 100644 index 981a54c0e11533bca7ce42da68f9449609021c60..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/hydra/.hydra/hydra.yaml +++ /dev/null @@ -1,161 +0,0 @@ -hydra: - run: - dir: ${run.output_dir}/hydra - sweep: - dir: multirun/${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 - - async_inference.enabled=true - - policy.host=127.0.0.1 - - policy.port=8000 - - run.steps=20 - - run.action_steps=30 - job: - name: openpi_rollout - chdir: false - override_dirname: async_inference.enabled=true,execute=true,policy.host=127.0.0.1,policy.port=8000,run.action_steps=30,run.steps=20 - id: ??? - num: ??? - config_name: openpi_six_tasks_5000_pickbread - env_set: {} - env_copy: [] - config: - override_dirname: - kv_sep: '=' - item_sep: ',' - exclude_keys: [] - runtime: - version: 1.3.6 - version_base: '1.3' - cwd: /home/romoya-1/openpi-workspace/PrometheusV2 - config_sources: - - path: hydra.conf - schema: pkg - provider: hydra - - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs - schema: file - provider: main - - path: '' - schema: structured - provider: schema - output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/six_task_5000/pickbread/20260915_151552_852033/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/pick_bread/data/round_0007/debug/hydra/.hydra/overrides.yaml b/eval/YAM/pick_bread/data/round_0007/debug/hydra/.hydra/overrides.yaml deleted file mode 100644 index dd6456581db11d5fae5b6de0190e6b8f2ecfeb52..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/hydra/.hydra/overrides.yaml +++ /dev/null @@ -1,6 +0,0 @@ -- execute=true -- async_inference.enabled=true -- policy.host=127.0.0.1 -- policy.port=8000 -- run.steps=20 -- run.action_steps=30 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/hydra/openpi_rollout.log b/eval/YAM/pick_bread/data/round_0007/debug/hydra/openpi_rollout.log deleted file mode 100644 index 69b1d60597f865129e8abd272e066478736f04d2..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/hydra/openpi_rollout.log +++ /dev/null @@ -1,202 +0,0 @@ -[2026-09-15 15:15:53,173][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml -[2026-09-15 15:15:53,175][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) -[2026-09-15 15:15:53,175][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) -[2026-09-15 15:15:53,175][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] -[2026-09-15 15:15:53,175][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] -[2026-09-15 15:15:53,175][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] -[2026-09-15 15:15:53,175][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] -[2026-09-15 15:15:53,175][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] -[2026-09-15 15:15:53,175][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) -[2026-09-15 15:15:53,176][i2rt.robots.utils][INFO] - motor_type: DM4310 -[2026-09-15 15:15:53,176][i2rt.robots.utils][INFO] - motor_kp: 20.0 -[2026-09-15 15:15:53,176][i2rt.robots.utils][INFO] - motor_kd: 0.5 -[2026-09-15 15:15:53,176][i2rt.robots.utils][INFO] - gripper_limits: None -[2026-09-15 15:15:53,176][i2rt.robots.utils][INFO] - needs_calibration: True -[2026-09-15 15:15:53,176][i2rt.robots.utils][INFO] - motor_direction: 1 -[2026-09-15 15:15:53,176][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} -[2026-09-15 15:15:53,177][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 -[2026-09-15 15:15:53,177][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 -[2026-09-15 15:15:53,177][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 15:15:53,177][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 15:15:53,177][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 15:15:53,177][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 15:15:53,177][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 15:15:53,177][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 15:15:53,177][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 15:15:53,177][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 15:15:53,177][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 15:15:53,177][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 15:15:53,177][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 -[2026-09-15 15:15:53,177][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 -[2026-09-15 15:15:53,178][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:15:53,190][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 15:15:53,201][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 -[2026-09-15 15:15:53,212][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:15:53,223][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 15:15:53,234][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:53,245][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:15:53,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 15:15:53,267][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:53,278][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:15:53,289][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 15:15:53,300][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:53,311][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:15:53,322][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 15:15:53,333][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:53,344][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:15:53,355][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 15:15:53,366][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:53,377][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:15:53,388][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 15:15:53,399][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:53,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:15:53,410][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) -[2026-09-15 15:15:53,410][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 -[2026-09-15 15:15:53,410][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:15:53,466][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 -[2026-09-15 15:15:53,521][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 -[2026-09-15 15:15:53,576][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 -[2026-09-15 15:15:53,631][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 -[2026-09-15 15:15:53,686][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 -[2026-09-15 15:15:53,741][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 -[2026-09-15 15:15:53,796][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 -[2026-09-15 15:15:53,796][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) -[2026-09-15 15:15:53,796][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:15:53,796][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 15:15:53,808][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 15:15:53,813][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 15:15:53,819][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 15:15:53,825][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 15:15:53,831][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 15:15:53,838][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 15:15:53,846][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 15:15:53,852][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, 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)] -[2026-09-15 15:15:53,852][root][INFO] - current_pos: [0.03528648813611035, -0.0001907377737087046, 0.0017166399633783413, 0.000953688868543523, 0.023079270618753256, 0.022316319523918438, -0.0013351644159609322] -[2026-09-15 15:15:53,852][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -[2026-09-15 15:15:53,852][root][INFO] - starting separate thread for control loop -[2026-09-15 15:15:53,952][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=0.03528648813611035, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789456553.9527087), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789456553.9527087), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789456553.9527087), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789456553.9527087), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.023079270618753256, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789456553.9527087), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789456553.9527087), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789456553.9527087)] -[2026-09-15 15:15:53,952][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 15:15:53,952][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013 -[2026-09-15 15:15:53,952][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 15:15:54,624][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2638 -[2026-09-15 15:15:54,924][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 15:15:55,547][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 -[2026-09-15 15:15:55,847][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.28591592278935, -0.0066758220798082135) -[2026-09-15 15:15:55,847][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28591592 -0.00667582] -[2026-09-15 15:15:56,096][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 -[2026-09-15 15:15:56,097][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 -[2026-09-15 15:15:56,097][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 15:15:56,097][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 15:15:56,097][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 15:15:56,097][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 15:15:56,097][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 15:15:56,097][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 15:15:56,097][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 15:15:56,097][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 15:15:56,097][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 15:15:56,097][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 15:15:56,097][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 -[2026-09-15 15:15:56,097][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 -[2026-09-15 15:15:56,097][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:15:56,098][root][INFO] - initializing, .... -[2026-09-15 15:15:56,108][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 15:15:56,119][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:56,131][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:15:56,142][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 15:15:56,153][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:56,164][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:15:56,175][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 15:15:56,186][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:56,197][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:15:56,208][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 15:15:56,219][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:56,230][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:15:56,241][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 15:15:56,252][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:56,263][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:15:56,274][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 15:15:56,285][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:56,296][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:15:56,307][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 15:15:56,318][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:15:56,329][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:15:56,329][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) -[2026-09-15 15:15:56,329][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 -[2026-09-15 15:15:56,329][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:15:56,384][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 -[2026-09-15 15:15:56,438][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 -[2026-09-15 15:15:56,492][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 -[2026-09-15 15:15:56,546][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 -[2026-09-15 15:15:56,600][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 -[2026-09-15 15:15:56,653][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 -[2026-09-15 15:15:56,707][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 -[2026-09-15 15:15:56,707][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) -[2026-09-15 15:15:56,707][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:15:56,708][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 15:15:56,718][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 15:15:56,724][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 15:15:56,730][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 15:15:56,735][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 15:15:56,743][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 15:15:56,749][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 15:15:56,755][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 15:15:56,762][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] -[2026-09-15 15:15:56,762][root][INFO] - current_pos: [-0.07114518959334681, -0.0020981155107957505, 0.0005722133211261138, 0.0013351644159609322, -0.042153047989623715, 0.014686808575570254, -4.128900587472343] -[2026-09-15 15:15:56,762][root][INFO] - motor 6 pos=-4.129, offset -2π -[2026-09-15 15:15:56,762][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -6.283185307179586] -[2026-09-15 15:15:56,762][root][INFO] - starting separate thread for control loop -[2026-09-15 15:15:56,862][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.07114518959334681, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789456556.8626928), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789456556.8626928), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789456556.8626928), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789456556.8626928), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.042153047989623715, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789456556.8626928), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.014686808575570254, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789456556.8626928), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=2.1542847197072437, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789456556.8626928)] -[2026-09-15 15:15:56,862][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 15:15:56,862][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 2.1543 -[2026-09-15 15:15:56,862][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 15:15:57,429][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2515 -[2026-09-15 15:15:57,730][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 15:15:58,350][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0087 -[2026-09-15 15:15:58,650][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.265599284443644, -0.008681634149477091) -[2026-09-15 15:15:58,650][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26559928 -0.00868163] -[2026-09-15 15:15:58,794][root][INFO] - initializing, .... -[2026-09-15 15:16:06,101][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 239.95 Hz -[2026-09-15 15:16:08,797][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 232.71 Hz -[2026-09-15 15:16:16,105][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 234.01 Hz -[2026-09-15 15:16:18,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 234.04 Hz -[2026-09-15 15:16:23,852][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 237.30 iterations per second over 30.00 seconds. -[2026-09-15 15:16:23,852][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 64 times, mean step_time: 0.004214 s, max step_time: 0.069918 s -[2026-09-15 15:16:26,109][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 238.33 Hz -[2026-09-15 15:16:26,763][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 236.53 iterations per second over 30.00 seconds. -[2026-09-15 15:16:26,763][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.004227 s, max step_time: 0.061125 s -[2026-09-15 15:16:28,801][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.66 Hz -[2026-09-15 15:16:36,108][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.49 Hz -[2026-09-15 15:16:38,804][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.68 Hz -[2026-09-15 15:16:46,112][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 234.14 Hz -[2026-09-15 15:16:48,802][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 232.98 Hz -[2026-09-15 15:16:53,854][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 238.72 iterations per second over 30.00 seconds. -[2026-09-15 15:16:53,854][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 31 times, mean step_time: 0.004189 s, max step_time: 0.010042 s -[2026-09-15 15:16:56,115][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 233.10 Hz -[2026-09-15 15:16:56,763][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 238.53 iterations per second over 30.00 seconds. -[2026-09-15 15:16:56,763][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.004192 s, max step_time: 0.022220 s -[2026-09-15 15:16:58,804][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.08 Hz -[2026-09-15 15:17:06,119][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.92 Hz -[2026-09-15 15:17:08,805][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.75 Hz -[2026-09-15 15:17:16,120][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.98 Hz -[2026-09-15 15:17:18,806][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.50 Hz -[2026-09-15 15:17:23,855][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 242.20 iterations per second over 30.00 seconds. -[2026-09-15 15:17:23,855][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.004129 s, max step_time: 0.022288 s -[2026-09-15 15:17:26,120][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.87 Hz -[2026-09-15 15:17:26,764][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.35 iterations per second over 30.00 seconds. -[2026-09-15 15:17:26,765][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.004076 s, max step_time: 0.008916 s -[2026-09-15 15:17:28,808][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.34 Hz -[2026-09-15 15:17:36,123][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 237.63 Hz -[2026-09-15 15:17:38,810][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 237.26 Hz -[2026-09-15 15:17:46,124][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.39 Hz -[2026-09-15 15:17:48,813][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.69 Hz -[2026-09-15 15:17:53,857][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 241.18 iterations per second over 30.00 seconds. -[2026-09-15 15:17:53,858][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.004146 s, max step_time: 0.007382 s -[2026-09-15 15:17:56,125][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.08 Hz -[2026-09-15 15:17:56,769][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 240.80 iterations per second over 30.00 seconds. -[2026-09-15 15:17:56,769][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.004153 s, max step_time: 0.007866 s -[2026-09-15 15:17:58,816][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.75 Hz -[2026-09-15 15:18:06,125][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.90 Hz -[2026-09-15 15:18:08,820][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.50 Hz -[2026-09-15 15:18:16,126][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.97 Hz -[2026-09-15 15:18:16,515][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.00 iterations per second over 19.75 seconds. -[2026-09-15 15:18:16,525][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.24 iterations per second over 22.67 seconds. diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0000.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0000.npz deleted file mode 100644 index b4e99ff8ef023d3eb9df4da3c6c5079678d32dc4..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0000.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f016e91f7b2321281fcc61dea67bbd0cda2e8faa1dc3bea872596a02db3481e6 -size 5844 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0001.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0001.npz deleted file mode 100644 index d23678c8348c45bf85f9ff0bb4b2cdd3e143a323..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0001.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2c4ad5ee2c17a81f404ee6deb3edf26abc6d98afb7cd0430411095ed74635da1 -size 5284 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0002.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0002.npz deleted file mode 100644 index 4dc411b4c7cf9f4f35b6fbbf0d539cf304ffe9b6..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0002.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1911a2a70c2e163c48de016dc42c0c7697ab0e0b26a3d442f0bb5f990c3340ff -size 5396 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0003.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0003.npz deleted file mode 100644 index 29d35df83199ea0c8067e0bdc54f98525826c888..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0003.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d63d08ff1206f6a0cb9b1435904a1d3a6239d6ad058f6fba13c555ab415b4635 -size 5396 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0004.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0004.npz deleted file mode 100644 index fd97b80f5be08e682d1de1d0a47c967800230b70..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0004.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bd2882db76a1f73d30147b115b08a67dc2db1d7900bc21d432e76cb7e5110667 -size 5284 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0005.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0005.npz deleted file mode 100644 index a57aec79e4d237b1b7e509f0755668a48f9ace7a..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0005.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2f7e21d160b1dee6567afaa102e1eeb96f88625e136577fc8ff4586d36e1d71d -size 5396 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0006.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0006.npz deleted file mode 100644 index 20c6d00de3d263656bab6ce6101c05e6627566e1..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0006.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4fe44908d7b02da6d5ac1188ec9436b53099eafa3099c771ee226419f4a46481 -size 5396 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0007.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0007.npz deleted file mode 100644 index 32eb402a45f04f2d428330dca9babfe674343ccc..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0007.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:08cd9b4fde573913df0a2bbc697dcb968a94858165e5efefae3518e66613bf6c -size 5396 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0008.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0008.npz deleted file mode 100644 index ce01d65d6ef36de483e0247c5502bb197969b627..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0008.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:540c8ef68acba3c14646d4724b596453e4be30decc001f0334d5de8f7d0845fd -size 5396 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0009.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0009.npz deleted file mode 100644 index 5faef33d1b137c89396c8c3d4c8f6d21cc321b35..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0009.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0ec154c783b04acbd619ac05de65043648f34e77017aef4f0cb90b29769bd49f -size 5396 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0010.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0010.npz deleted file mode 100644 index 94d70cd58ddbd8958d604475b9c284aa2a879bf4..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0010.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:87f262f1104b73293b30af4c6bff2db1010bd3655e0a4ec33754e75322d26db3 -size 5396 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0011.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0011.npz deleted file mode 100644 index a077eb77143105c02a9688ffc3200ee0c9bd0022..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0011.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a632041a1d76980ba5d2c59c4f77e76fa49122f72877bd9363c0ba34aa4d06a8 -size 5396 diff --git a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0012.npz b/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0012.npz deleted file mode 100644 index 1c684e99fb3e98f9bf174430bdc2dbdbf26dac74..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0007/debug/plans/async_plan_0012.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 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"openpi_rollout" - }, - "record_id": "prometheus_camera_left_wrist_0_recorder", - "record_mode": "sensor", - "schema": "prometheus_raw_episode_v1", - "sensor_kind": "camera", - "sensor_name": "left_wrist_0", - "status": "saved", - "updated_at_unix": 1789458549.0003252 - }, - "prometheus_camera_right_wrist_0_recorder": { - "camera_frames": { - "right_wrist_0_rgb": 492 - }, - "camera_timestamp_samples": 492, - "complete_sensor_bundles": 492, - "counts": { - "action.executed": 468, - "camera.base_0_rgb": 492, - "camera.left_wrist_0_rgb": 491, - "camera.right_wrist_0_rgb": 492, - "dropped": 0, - "event.workflow": 1, - "items": 3910, - "robot.robot_state": 1966 - }, - "dropped_incomplete_sensor_bundles": 0, - "duplicate_sensor_messages": 0, - "episode_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0011", - "failure": "", - "metadata": { - "round_number": 11, - "run_id": "20260915_154612_423337_round_0011", - "workflow": "openpi_rollout" - }, - "record_id": "prometheus_camera_right_wrist_0_recorder", - "record_mode": "sensor", - "schema": "prometheus_raw_episode_v1", - "sensor_kind": "camera", - "sensor_name": "right_wrist_0", - "status": "saved", - "updated_at_unix": 1789458549.0003252 - } -} diff --git a/eval/YAM/pick_bread/data/round_0011/manifests/event.json b/eval/YAM/pick_bread/data/round_0011/manifests/event.json deleted file mode 100644 index 02488df08b14e7b5f88a01db38e8b9d7b9aaf39f..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0011/manifests/event.json +++ /dev/null @@ -1,27 +0,0 @@ -{ - "prometheus_event_recorder": { - "counts": { - "action.executed": 468, - "camera.base_0_rgb": 492, - "camera.left_wrist_0_rgb": 491, - "camera.right_wrist_0_rgb": 492, - "dropped": 0, - "event.workflow": 1, - "items": 3910, - "robot.robot_state": 1966 - }, - "episode_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0011", - "event_samples": 1, - "failure": "", - "metadata": { - "round_number": 11, - "run_id": "20260915_154612_423337_round_0011", - "workflow": "openpi_rollout" - }, - "record_id": "prometheus_event_recorder", - "record_mode": "event", - "schema": "prometheus_raw_episode_v1", - "status": "saved", - "updated_at_unix": 1789458549.0003252 - } -} diff --git a/eval/YAM/pick_bread/data/round_0011/manifests/robot.json b/eval/YAM/pick_bread/data/round_0011/manifests/robot.json deleted file mode 100644 index 21a3ad0f082fe4202285ed80c11841ffae298cb6..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0011/manifests/robot.json +++ /dev/null @@ -1,36 +0,0 @@ -{ - "prometheus_robot_recorder": { - "counts": { - "action.executed": 468, - "camera.base_0_rgb": 492, - "camera.left_wrist_0_rgb": 491, - "camera.right_wrist_0_rgb": 492, - "dropped": 0, - "event.workflow": 1, - "items": 3910, - "robot.robot_state": 1966 - }, - "episode_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0011", - "failure": "", - "incomplete_robot_samples": { - "left": 1966, - "right": 1966 - }, - "metadata": { - "round_number": 11, - "run_id": "20260915_154612_423337_round_0011", - "workflow": "openpi_rollout" - }, - "pending_robot_samples": 0, - "plot_outputs": [], - "record_id": "prometheus_robot_recorder", - "record_mode": "robot", - "robot_samples": { - "left": 1966, - "right": 1966 - }, - "schema": "prometheus_raw_episode_v1", - "status": "saved", - "updated_at_unix": 1789458549.0003252 - } -} diff --git a/eval/YAM/pick_bread/data/round_0011/manifests/tactile.json b/eval/YAM/pick_bread/data/round_0011/manifests/tactile.json deleted file mode 100644 index 0967ef424bce6791893e9a57bb952f80fd536e93..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0011/manifests/tactile.json +++ /dev/null @@ -1 +0,0 @@ -{} diff --git a/eval/YAM/pick_bread/data/round_0011/robot/robot_state_dict.pkl b/eval/YAM/pick_bread/data/round_0011/robot/robot_state_dict.pkl deleted file mode 100644 index 62ec7fefc83dc1c2488e17860cedf1e3139c6da8..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0011/robot/robot_state_dict.pkl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f7bbc6d4219ac420c0e526ee23383d8f0bbf72ff88708646a14e5688e364f338 -size 719914 diff --git a/eval/YAM/pick_bread/data/round_0011/workflow_manifest.json b/eval/YAM/pick_bread/data/round_0011/workflow_manifest.json deleted file mode 100644 index a6662aff206ea6daae820e7fd92271121af06cda..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0011/workflow_manifest.json +++ /dev/null @@ -1,1500 +0,0 @@ -{ - "acceleration_limits": [ - 39.5808810005585, - 55.004043830233, - 44.68060229799783, - 91.62133280935228, - 65.08588851988291, - 151.51135987043372, - 36.46975939521742, - 59.49779678765172, - 158.88149769882136, - 185.96936248422384, - 195.72700673668703, - 120.72372674974524, - 69.6267755117399, - 69.63367811564663 - ], - "actions_sent": 468, - "async_execution": { - "blend_steps": 5, - "chunk_counter_meaning": "completed groups of 30 acknowledged targets", - "expired_prefix_actions": 121, - "mode": "async_overlap", - "plans_adopted": 28, - "prediction_horizon": 30, - "predictions_requested": 29, - "prefetch_steps": 12, - "queue_underruns": 0, - "target_budget": 600 - }, - "awaiting_failure_shutdown": false, - "chunks": 15, - "cleanup_errors": [], - "command_velocity_limits": [ - 2.442312578029071, - 2.4975373811192143, - 3.013320137018569, - 3.6631475333123924, - 3.9407490468034494, - 7.2432644923512814, - 1.516527975483024, - 3.180863855282635, - 5.499279518310686, - 6.393740554956087, - 6.757101739369718, - 4.424769858420448, - 4.669718434214604, - 1.5880624334517093 - ], - "config": { - "async_inference": { - "blend_steps": 5, - "enabled": true, - "prefetch_steps": 12 - }, - "data": { - "bridge": { - "enabled": true, - "name": "openpi_observe_20260915_154612_423337", - "qos_depth": 10, - "sensor_qos": "reliable", - "stamp_source": "header", - "wait_all_streams": true - }, - "history": 64, - "mode": "owned", - "name": "openpi_data", - "numpy": { - "enabled": true - }, - "recording": { - "camera_encoder": "libx264", - "default_event_value": null, - "enable_plots": false, - "enabled": true, - "fps": 30.0, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread", - "queue_size": 4096 - }, - "streams": { - "base_0_color": { - "domain": "sensor", - "msg_type": "sensor_msgs.msg.Image", - "ros_domain_id": 22, - "topic": "/prometheus/sensors/cameras/base_0/color/image_raw" - }, - "left_wrist_0_color": { - "domain": "sensor", - "msg_type": "sensor_msgs.msg.Image", - "ros_domain_id": 22, - "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw" - }, - "right_wrist_0_color": { - "domain": "sensor", - "msg_type": "sensor_msgs.msg.Image", - "ros_domain_id": 22, - "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw" - }, - "robot_state": { - "domain": "robot", - "msg_type": "sensor_msgs.msg.JointState", - "ros_domain_id": 21, - "topic": "/prometheus/robots/yam/state" - } - } - }, - "execute": true, - "execution": { - "command_ack_timeout_s": 0.1, - "hold_settle_s": 0.2, - "hold_settle_timeout_s": 5.0, - "max_prediction_age_s": 0.5, - "max_schedule_lateness_s": 0.035 - }, - "hardware": { - "mode": "owned", - "name": "openpi_hardware", - "sensors": "auto", - "streams": "auto" - }, - "policy": { - "action_hz": 30.0, - "connect_timeout_s": 10.0, - "host": "127.0.0.1", - "max_observation_age_s": 0.5, - "observation_wait_timeout_s": 1.0, - "port": 8000, - "prompt": "Pick up the slice of bread from the large pan and place it in the small pan.", - "response_timeout_s": 120.0, - "slop_ms": 20.0 - }, - "preview": { - "enabled": true, - "fps": 20.0, - "height": 720, - "host": "127.0.0.1", - "mode": "local", - "port": 7860, - "refresh_ms": 100, - "stale_timeout_s": 1.0, - "ui_mode": "openpi", - "width": 1280, - "window": "Pi0.5 - Async execution" - }, - "robot": { - "_target_": "prometheus.nodes.robots.yam.resolve_robot", - "cameras": { - "camera_info": false, - "capture_height": 480, - "capture_hz": 30, - "capture_width": 640, - "collect_ir": false, - "ir": false, - "prepub_resize": 1.0, - "publish_hz": 30, - "qos": "reliable", - "serial_no": { - "base_0": "260322272085", - "left_wrist_0": "260422275825", - "right_wrist_0": "260322279382" - } - }, - "collection_input_source": "pedal,tty", - "collection_pedal": { - "confirm_presses": 2, - "confirm_window_s": 1.0, - "debounce_s": 0.05, - "devices": [ - "/dev/input/prometheus-pedal", - "/dev/input/prometheus-pedal-aux" - ], - "exclusive": true, - "pedal_map": { - "2": 0, - "3": 1, - "4": 2, - "5": 3, - "30": 0, - "32": 3, - "46": 2, - "48": 1 - } - }, - "control_domain_id": 21, - "id": "yam", - "robot": { - "action_space": "abs_qpos", - "alignment_duration_s": 3.0, - "bilateral_kp": 0.0, - "collection_mode": "policy", - "control_hz": 120, - "enable_auto_recovery": false, - "follower_arm": "yam_ultra", - "follower_can": { - "left": "can_follower_l", - "right": "can_follower_r" - }, - "follower_gripper": "linear_4310", - "gripper_width_m": 0.096, - "home_return": { - "enabled": false, - "feedback_timeout_s": 0.5, - "kp_scale": 1.0, - "max_velocity": 0.3, - "min_duration_s": 3.0, - "position_tolerance": 0.05, - "settle_s": 0.3, - "timeout_s": 25.0, - "tracking_error_limit": 0.35, - "velocity_tolerance": 0.1 - }, - "leader_arm": "yam", - "leader_can": null, - "leader_gripper": "yam_teaching_handle", - "policy_control": { - "acceleration_limits": [ - 39.5808810005585, - 55.004043830233, - 44.68060229799783, - 91.62133280935228, - 65.08588851988291, - 151.51135987043372, - 36.46975939521742, - 59.49779678765172, - 158.88149769882136, - 185.96936248422384, - 195.72700673668703, - 120.72372674974524, - 69.6267755117399, - 69.63367811564663 - ], - "command_timeout_s": 0.25, - "command_velocity_limits": [ - 2.442312578029071, - 2.4975373811192143, - 3.013320137018569, - 3.6631475333123924, - 3.9407490468034494, - 7.2432644923512814, - 1.516527975483024, - 3.180863855282635, - 5.499279518310686, - 6.393740554956087, - 6.757101739369718, - 4.424769858420448, - 4.669718434214604, - 1.5880624334517093 - ], - "feedback_timeout_s": 0.2, - "hz": 30.0, - "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 - ], - "stop_file": "/tmp/prometheus_openpi/STOP", - "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 - ], - "urdf": "/home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf", - "velocity_limits": [ - 2.167985339164734, - 2.5182173085212707, - 3.223614091873169, - 3.5294504594802856, - 2.9079120349884033, - 4.417362494468689, - 0.43312741816043854, - 2.8881806564331054, - 3.57877890586853, - 4.925445733070373, - 5.793626389503479, - 6.933113741874695, - 2.582344288825989, - 0.4438962382078171 - ] - }, - "require_enable_button": false, - "sim": false, - "state_publish_hz": 120, - "teleoperation_enabled": false - }, - "sensor_domain_id": 22 - }, - "ros": { - "localhost_only": true - }, - "run": { - "action_steps": 30, - "id": "20260915_154612_423337_round_0011", - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0011", - "runtime_dir": "outputs/openpi_rollout/six_task_5000/pickbread/metadata/runtime", - "steps": 20, - "wait_ready_timeout_s": 30.0 - } - }, - "control_at_failure": { - "acceleration_limits": [ - 39.5808810005585, - 55.004043830233, - 44.68060229799783, - 91.62133280935228, - 65.08588851988291, - 151.51135987043372, - 36.46975939521742, - 59.49779678765172, - 158.88149769882136, - 185.96936248422384, - 195.72700673668703, - 120.72372674974524, - 69.6267755117399, - 69.63367811564663 - ], - "armed": false, - "command_guard_failure": null, - "command_velocity_limits": [ - 2.442312578029071, - 2.4975373811192143, - 3.013320137018569, - 3.6631475333123924, - 3.9407490468034494, - 7.2432644923512814, - 1.516527975483024, - 3.180863855282635, - 5.499279518310686, - 6.393740554956087, - 6.757101739369718, - 4.424769858420448, - 4.669718434214604, - 1.5880624334517093 - ], - "dragging": false, - "fault": null, - "holding": false, - "policy_finished": false, - "position_limit_source": "sdk", - "position_limits": [ - [ - -2.7679899999999997, - 3.29159 - ], - [ - -0.15, - 3.81519 - ], - [ - -0.15, - 3.29159 - ], - [ - -1.84297, - 1.7207999999999999 - ], - [ - -1.7207999999999999, - 1.7207999999999999 - ], - [ - -2.2443999999999997, - 2.2443999999999997 - ], - [ - 0.0, - 0.096 - ], - [ - -2.7679899999999997, - 3.29159 - ], - [ - -0.15, - 3.81519 - ], - [ - -0.15, - 3.29159 - ], - [ - -1.84297, - 1.7207999999999999 - ], - [ - -1.7207999999999999, - 1.7207999999999999 - ], - [ - -2.2443999999999997, - 2.2443999999999997 - ], - [ - 0.0, - 0.096 - ] - ], - "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 - ], - "stop_file": "/tmp/prometheus_openpi/STOP", - "tracking_error_limits": [ - 0.20073625504970552, - 0.309388148188591, - 0.29782940477132797, - 0.22655070275068284, - 0.5001068050414323, - 0.7771305423974991, - 0.06952205713838339, - 0.268162048868835, - 0.3556229412555695, - 0.4542571985721588, - 0.3109293460845947, - 1.0653276860713958, - 0.45733958966098726, - 0.07211417473852634 - ], - "velocity_limits": [ - 2.167985339164734, - 2.5182173085212707, - 3.223614091873169, - 3.5294504594802856, - 2.9079120349884033, - 4.417362494468689, - 0.43312741816043854, - 2.8881806564331054, - 3.57877890586853, - 4.925445733070373, - 5.793626389503479, - 6.933113741874695, - 2.582344288825989, - 0.4438962382078171 - ] - }, - "episode_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0011", - "error": "ValueError: async plan velocity limit exceeded: frame=2, dimension=8, value=-6.410128, limit=5.499280", - "failure_traceback": "Traceback (most recent call last):\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 348, in run_from_config\n call_cancellable(lambda: execute_async_round(\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 67, in call_cancellable\n raise value\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 51, in work\n result.put((True, fn()))\n ^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 348, in \n call_cancellable(lambda: execute_async_round(\n ^^^^^^^^^^^^^^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/async_action_execution.py\", line 199, in execute_async_round\n validate_plan(candidate, previous, previous_velocity, control.limits, hz, horizon=horizon)\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/async_action_execution.py\", line 144, in validate_plan\n raise ValueError(f'async plan {name} limit exceeded: frame={frame}, dimension={joint}, '\nValueError: async plan velocity limit exceeded: frame=2, dimension=8, value=-6.410128, 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"sensor", - "schema": "prometheus_raw_episode_v1", - "sensor_kind": "camera", - "sensor_name": "left_wrist_0", - "status": "saved", - "updated_at_unix": 1789459181.1928875 - }, - "prometheus_camera_right_wrist_0_recorder": { - "camera_frames": { - "right_wrist_0_rgb": 492 - }, - "camera_timestamp_samples": 492, - "complete_sensor_bundles": 492, - "counts": { - "action.executed": 466, - "camera.base_0_rgb": 491, - "camera.left_wrist_0_rgb": 492, - "camera.right_wrist_0_rgb": 492, - "dropped": 0, - "event.workflow": 1, - "items": 3908, - "robot.robot_state": 1966 - }, - "dropped_incomplete_sensor_bundles": 0, - "duplicate_sensor_messages": 0, - "episode_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0013", - "failure": "", - "metadata": { - "round_number": 13, - "run_id": "20260915_155832_766245_round_0013", - "workflow": "openpi_rollout" - }, - "record_id": "prometheus_camera_right_wrist_0_recorder", - "record_mode": "sensor", - "schema": "prometheus_raw_episode_v1", - "sensor_kind": "camera", - "sensor_name": "right_wrist_0", - "status": "saved", - "updated_at_unix": 1789459181.1928875 - } -} diff --git a/eval/YAM/pick_bread/data/round_0013/manifests/event.json b/eval/YAM/pick_bread/data/round_0013/manifests/event.json deleted file mode 100644 index e626f26f03a920ecc2b73681a6a8ea3863080ed3..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0013/manifests/event.json +++ /dev/null @@ -1,27 +0,0 @@ -{ - "prometheus_event_recorder": { - "counts": { - "action.executed": 466, - "camera.base_0_rgb": 491, - "camera.left_wrist_0_rgb": 492, - "camera.right_wrist_0_rgb": 492, - "dropped": 0, - "event.workflow": 1, - "items": 3908, - "robot.robot_state": 1966 - }, - "episode_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0013", - "event_samples": 1, - "failure": "", - "metadata": { - "round_number": 13, - "run_id": "20260915_155832_766245_round_0013", - "workflow": "openpi_rollout" - }, - "record_id": "prometheus_event_recorder", - "record_mode": "event", - "schema": "prometheus_raw_episode_v1", - "status": "saved", - "updated_at_unix": 1789459181.1928875 - } -} diff --git a/eval/YAM/pick_bread/data/round_0013/manifests/robot.json b/eval/YAM/pick_bread/data/round_0013/manifests/robot.json deleted file mode 100644 index 054319af729a177e79a52f49d981b4a24e8dfb10..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0013/manifests/robot.json +++ /dev/null @@ -1,36 +0,0 @@ -{ - "prometheus_robot_recorder": { - "counts": { - "action.executed": 466, - "camera.base_0_rgb": 491, - "camera.left_wrist_0_rgb": 492, - "camera.right_wrist_0_rgb": 492, - "dropped": 0, - "event.workflow": 1, - "items": 3908, - "robot.robot_state": 1966 - }, - "episode_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0013", - "failure": "", - "incomplete_robot_samples": { - "left": 1966, - "right": 1966 - }, - "metadata": { - "round_number": 13, - "run_id": "20260915_155832_766245_round_0013", - "workflow": "openpi_rollout" - }, - "pending_robot_samples": 0, - "plot_outputs": [], - "record_id": "prometheus_robot_recorder", - "record_mode": "robot", - "robot_samples": { - "left": 1966, - "right": 1966 - }, - "schema": "prometheus_raw_episode_v1", - "status": "saved", - "updated_at_unix": 1789459181.1928875 - } -} diff --git a/eval/YAM/pick_bread/data/round_0013/manifests/tactile.json b/eval/YAM/pick_bread/data/round_0013/manifests/tactile.json deleted file mode 100644 index 0967ef424bce6791893e9a57bb952f80fd536e93..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0013/manifests/tactile.json +++ /dev/null @@ -1 +0,0 @@ -{} diff --git a/eval/YAM/pick_bread/data/round_0013/robot/robot_state_dict.pkl b/eval/YAM/pick_bread/data/round_0013/robot/robot_state_dict.pkl deleted file mode 100644 index 2261178a81347eb27fe47ac4a4cd8b5db6fed203..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0013/robot/robot_state_dict.pkl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:55409108253a8607ca6492ec44925a9621b4a3ba48243cec2b9fb8a4cac071a7 -size 719914 diff --git a/eval/YAM/pick_bread/data/round_0013/workflow_manifest.json b/eval/YAM/pick_bread/data/round_0013/workflow_manifest.json deleted file mode 100644 index 175ff12c05fbb76be410a773d8c830bec2b280bb..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/data/round_0013/workflow_manifest.json +++ /dev/null @@ -1,1500 +0,0 @@ -{ - "acceleration_limits": [ - 118.7426430016755, - 165.012131490699, - 134.04180689399348, - 274.86399842805685, - 195.25766555964873, - 454.5340796113012, - 109.40927818565227, - 178.49339036295515, - 476.6444930964641, - 557.9080874526715, - 587.1810202100611, - 362.1711802492357, - 208.8803265352197, - 208.9010343469399 - ], - "actions_sent": 466, - "async_execution": { - "blend_steps": 5, - "chunk_counter_meaning": 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64, - "mode": "owned", - "name": "openpi_data", - "numpy": { - "enabled": true - }, - "recording": { - "camera_encoder": "libx264", - "default_event_value": null, - "enable_plots": false, - "enabled": true, - "fps": 30.0, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread", - "queue_size": 4096 - }, - "streams": { - "base_0_color": { - "domain": "sensor", - "msg_type": "sensor_msgs.msg.Image", - "ros_domain_id": 22, - "topic": "/prometheus/sensors/cameras/base_0/color/image_raw" - }, - "left_wrist_0_color": { - "domain": "sensor", - "msg_type": "sensor_msgs.msg.Image", - "ros_domain_id": 22, - "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw" - }, - "right_wrist_0_color": { - "domain": "sensor", - "msg_type": "sensor_msgs.msg.Image", - "ros_domain_id": 22, - "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw" - }, - "robot_state": { - "domain": "robot", - "msg_type": "sensor_msgs.msg.JointState", - "ros_domain_id": 21, - "topic": 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\"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 51, in work\n result.put((True, fn()))\n ^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 348, in \n call_cancellable(lambda: execute_async_round(\n ^^^^^^^^^^^^^^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/async_action_execution.py\", line 234, in execute_async_round\n raise RuntimeError('async action timestamp expired; refusing delayed trajectory playback')\nRuntimeError: async action timestamp expired; refusing delayed trajectory playback\n", - "hardware_at_failure": { - "details": { - "cleanup_errors": [], - "robot_client": { - "action_space": "abs_qpos", - "closed": false, - "command_source": "yam_workflow", - "control_topic": "/prometheus/robots/yam/control", - "request_id": "", - "result_topic": "/prometheus/robots/yam/control_result", - "ros_domain_id": 21, - "type": "RobotControlClient" - }, 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"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 - ], - "stop_file": "/tmp/prometheus_openpi/STOP", - "tracking_error_limits": [ - 0.20073625504970552, - 0.309388148188591, - 0.29782940477132797, - 0.22655070275068284, - 0.5001068050414323, - 0.7771305423974991, - 0.06952205713838339, - 0.268162048868835, - 0.3556229412555695, - 0.4542571985721588, - 0.3109293460845947, - 1.0653276860713958, - 0.45733958966098726, - 0.07211417473852634 - ], - "velocity_limits": [ - 2.167985339164734, - 2.5182173085212707, - 3.223614091873169, - 3.5294504594802856, - 2.9079120349884033, - 4.417362494468689, - 0.43312741816043854, - 2.8881806564331054, - 3.57877890586853, - 4.925445733070373, - 5.793626389503479, - 6.933113741874695, - 2.582344288825989, - 0.4438962382078171 - ] - }, - "position_limit_source": "sdk", - "position_limits": [ - [ - -2.7679899999999997, - 3.29159 - ], - [ - -0.15, - 3.81519 - ], - [ - -0.15, - 3.29159 - ], - [ - -1.84297, - 1.7207999999999999 - ], - [ - -1.7207999999999999, - 1.7207999999999999 - ], - [ - -2.2443999999999997, - 2.2443999999999997 - ], - [ - 0.0, - 0.096 - ], - [ - -2.7679899999999997, - 3.29159 - ], - [ - -0.15, - 3.81519 - ], - [ - -0.15, - 3.29159 - ], - [ - -1.84297, - 1.7207999999999999 - ], - [ - -1.7207999999999999, - 1.7207999999999999 - ], - [ - -2.2443999999999997, - 2.2443999999999997 - ], - [ - 0.0, - 0.096 - ] - ], - "recording": { - "episode_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0017", - "failure": "", - "paused": false, - "queue_size": 0, - "queues": { - "action": 0, - "camera:base_0": 0, - "camera:left_wrist_0": 0, - "camera:right_wrist_0": 0, - "event": 0, - "robot": 0 - }, - "record_counts": { - "action.executed": 600, - "camera.base_0_rgb": 631, - "camera.left_wrist_0_rgb": 631, - "camera.right_wrist_0_rgb": 631, - "dropped": 0, - "event.workflow": 1, - "items": 5018, - "robot.robot_state": 2524 - }, - "recording": false, - "recording_enabled": true - }, - "round_number": 17, - "shutdown_confirmed": true, - "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 - ], - "status": "completed", - "tracking_error_limits": [ - 0.20073625504970552, - 0.309388148188591, - 0.29782940477132797, - 0.22655070275068284, - 0.5001068050414323, - 0.7771305423974991, - 0.06952205713838339, - 0.268162048868835, - 0.3556229412555695, - 0.4542571985721588, - 0.3109293460845947, - 1.0653276860713958, - 0.45733958966098726, - 0.07211417473852634 - ], - "velocity_limits": [ - 2.167985339164734, - 2.5182173085212707, - 3.223614091873169, - 3.5294504594802856, - 2.9079120349884033, - 4.417362494468689, - 0.43312741816043854, - 2.8881806564331054, - 3.57877890586853, - 4.925445733070373, - 5.793626389503479, - 6.933113741874695, - 2.582344288825989, - 0.4438962382078171 - ] -} diff --git a/eval/YAM/pick_bread/metadata/hydra/.hydra/config.yaml b/eval/YAM/pick_bread/metadata/hydra/.hydra/config.yaml deleted file mode 100644 index 275f50423f4d11afad2190c7ff5969e258a979bc..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/metadata/hydra/.hydra/config.yaml +++ /dev/null @@ -1,239 +0,0 @@ -ros: - localhost_only: true -run: - id: ${now:%Y%m%d_%H%M%S_%f} - output_dir: outputs/openpi_rollout/six_task_5000/pickbread - steps: 20 - wait_ready_timeout_s: 30.0 - runtime_dir: ${run.output_dir}/runtime - action_steps: 30 -policy: - host: 127.0.0.1 - port: 8000 - prompt: Pick up the slice of bread from the large pan and place it in the small - pan. - action_hz: 30.0 - slop_ms: 20.0 - observation_wait_timeout_s: 1.0 - max_observation_age_s: 0.5 - connect_timeout_s: 10.0 - response_timeout_s: 120.0 -data: - history: 64 - bridge: - enabled: true - name: openpi_observe_${run.id} - wait_all_streams: true - qos_depth: 10 - stamp_source: header - sensor_qos: reliable - streams: - robot_state: - topic: /prometheus/robots/yam/state - msg_type: sensor_msgs.msg.JointState - domain: robot - ros_domain_id: 21 - base_0_color: - topic: /prometheus/sensors/cameras/base_0/color/image_raw - msg_type: sensor_msgs.msg.Image - domain: sensor - ros_domain_id: 22 - left_wrist_0_color: - topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw - msg_type: sensor_msgs.msg.Image - domain: sensor - ros_domain_id: 22 - right_wrist_0_color: - topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw - msg_type: sensor_msgs.msg.Image - domain: sensor - ros_domain_id: 22 - name: openpi_data - mode: owned - numpy: - enabled: true - recording: - enabled: true - output_dir: ${run.output_dir} - 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: - - 2.167985339164734 - - 2.5182173085212707 - - 3.223614091873169 - - 3.5294504594802856 - - 2.9079120349884033 - - 4.417362494468689 - - 0.43312741816043854 - - 2.8881806564331054 - - 3.57877890586853 - - 4.925445733070373 - - 5.793626389503479 - - 6.933113741874695 - - 2.582344288825989 - - 0.4438962382078171 - stationary_velocity_limits: - - 0.09619047798216343 - - 0.09619047798216343 - - 0.09125763334333897 - - 0.09619047798216343 - - 0.11098901189863682 - - 0.18498168900609016 - - 0.014679903751239181 - - 0.10112332262098789 - - 0.11098901189863682 - - 0.10112332262098789 - - 0.11098901189863682 - - 0.14058608725667 - - 0.2885714414715767 - - 0.014345181323587895 - command_velocity_limits: - - 7.326937734087213 - - 7.492612143357643 - - 9.039960411055707 - - 10.989442599937178 - - 11.822247140410347 - - 21.729793477053846 - - 4.549583926449072 - - 9.542591565847905 - - 16.49783855493206 - - 19.18122166486826 - - 20.271305218109156 - - 13.274309575261345 - - 14.009155302643812 - - 4.764187300355128 - acceleration_limits: - - 118.7426430016755 - - 165.012131490699 - - 134.04180689399348 - - 274.86399842805685 - - 195.25766555964873 - - 454.5340796113012 - - 109.40927818565227 - - 178.49339036295515 - - 476.6444930964641 - - 557.9080874526715 - - 587.1810202100611 - - 362.1711802492357 - - 208.8803265352197 - - 208.9010343469399 - tracking_error_limits: - - 0.20073625504970552 - - 0.309388148188591 - - 0.29782940477132797 - - 0.22655070275068284 - - 0.5001068050414323 - - 0.7771305423974991 - - 0.06952205713838339 - - 0.268162048868835 - - 0.3556229412555695 - - 0.4542571985721588 - - 0.3109293460845947 - - 1.0653276860713958 - - 0.45733958966098726 - - 0.07211417473852634 - cameras: - capture_hz: 30 - capture_width: 640 - capture_height: 480 - publish_hz: 30 - collect_ir: false - ir: false - prepub_resize: 1.0 - camera_info: false - serial_no: - base_0: '260322272085' - left_wrist_0: '260422275825' - right_wrist_0: '260322279382' - qos: reliable -execute: true -async_inference: - enabled: true - prefetch_steps: 12 - blend_steps: 5 -execution: - hold_settle_s: 0.2 - hold_settle_timeout_s: 5.0 - max_prediction_age_s: 0.5 - max_schedule_lateness_s: 0.105 - command_ack_timeout_s: 0.1 -hardware: - name: openpi_hardware - mode: owned - sensors: auto - streams: auto -preview: - enabled: true - mode: local - ui_mode: openpi - window: Pi0.5 - Async execution - width: 1280 - height: 720 - fps: 20.0 - stale_timeout_s: 1.0 - host: 127.0.0.1 - port: 7860 - refresh_ms: 100 diff --git a/eval/YAM/pick_bread/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/pick_bread/metadata/hydra/.hydra/hydra.yaml deleted file mode 100644 index 03baf286052a1e08f9280af0195fb2cfa247a551..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/metadata/hydra/.hydra/hydra.yaml +++ /dev/null @@ -1,161 +0,0 @@ -hydra: - run: - dir: ${run.output_dir}/hydra - sweep: - dir: multirun/${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 - - async_inference.enabled=true - - policy.host=127.0.0.1 - - policy.port=8000 - - run.steps=20 - - run.action_steps=30 - job: - name: openpi_rollout - chdir: false - override_dirname: async_inference.enabled=true,execute=true,policy.host=127.0.0.1,policy.port=8000,run.action_steps=30,run.steps=20 - id: ??? - num: ??? - config_name: openpi_six_tasks_5000_pickbread - env_set: {} - env_copy: [] - config: - override_dirname: - kv_sep: '=' - item_sep: ',' - exclude_keys: [] - runtime: - version: 1.3.6 - version_base: '1.3' - cwd: /home/romoya-1/openpi-workspace/PrometheusV2 - config_sources: - - path: hydra.conf - schema: pkg - provider: hydra - - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs - schema: file - provider: main - - path: '' - schema: structured - provider: schema - output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/six_task_5000/pickbread/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/pick_bread/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/pick_bread/metadata/hydra/.hydra/overrides.yaml deleted file mode 100644 index dd6456581db11d5fae5b6de0190e6b8f2ecfeb52..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/metadata/hydra/.hydra/overrides.yaml +++ /dev/null @@ -1,6 +0,0 @@ -- execute=true -- async_inference.enabled=true -- policy.host=127.0.0.1 -- policy.port=8000 -- run.steps=20 -- run.action_steps=30 diff --git a/eval/YAM/pick_bread/metadata/hydra/openpi_rollout.log b/eval/YAM/pick_bread/metadata/hydra/openpi_rollout.log deleted file mode 100644 index 034a52515d24883d5aaf845974a2fab6d02364e2..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/metadata/hydra/openpi_rollout.log +++ /dev/null @@ -1,869 +0,0 @@ -[2026-09-15 15:46:12,753][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml -[2026-09-15 15:46:12,754][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) -[2026-09-15 15:46:12,754][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) -[2026-09-15 15:46:12,755][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] -[2026-09-15 15:46:12,755][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] -[2026-09-15 15:46:12,755][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] -[2026-09-15 15:46:12,755][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] -[2026-09-15 15:46:12,755][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] -[2026-09-15 15:46:12,755][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) -[2026-09-15 15:46:12,756][i2rt.robots.utils][INFO] - motor_type: DM4310 -[2026-09-15 15:46:12,756][i2rt.robots.utils][INFO] - motor_kp: 20.0 -[2026-09-15 15:46:12,756][i2rt.robots.utils][INFO] - motor_kd: 0.5 -[2026-09-15 15:46:12,756][i2rt.robots.utils][INFO] - gripper_limits: None -[2026-09-15 15:46:12,756][i2rt.robots.utils][INFO] - needs_calibration: True -[2026-09-15 15:46:12,756][i2rt.robots.utils][INFO] - motor_direction: 1 -[2026-09-15 15:46:12,756][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} -[2026-09-15 15:46:12,757][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 -[2026-09-15 15:46:12,757][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 -[2026-09-15 15:46:12,757][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 15:46:12,757][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 15:46:12,757][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 15:46:12,757][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 15:46:12,757][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 15:46:12,757][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 15:46:12,757][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 15:46:12,757][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 15:46:12,757][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 15:46:12,757][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 15:46:12,757][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 -[2026-09-15 15:46:12,757][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 -[2026-09-15 15:46:12,758][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:46:12,769][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 15:46:12,780][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 -[2026-09-15 15:46:12,791][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:46:12,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 15:46:12,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:12,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:46:12,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 15:46:12,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:12,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:46:12,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 15:46:12,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:12,890][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:46:12,900][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 15:46:12,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:12,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:46:12,934][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 15:46:12,945][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:12,955][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:46:12,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 15:46:12,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:12,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:46:12,988][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) -[2026-09-15 15:46:12,988][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 -[2026-09-15 15:46:12,988][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:46:13,043][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 -[2026-09-15 15:46:13,097][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 -[2026-09-15 15:46:13,152][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 -[2026-09-15 15:46:13,207][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 -[2026-09-15 15:46:13,262][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 -[2026-09-15 15:46:13,316][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 -[2026-09-15 15:46:13,370][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 -[2026-09-15 15:46:13,370][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) -[2026-09-15 15:46:13,370][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:46:13,370][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 15:46:13,381][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 15:46:13,386][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 15:46:13,392][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 15:46:13,399][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 15:46:13,405][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 15:46:13,411][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 15:46:13,418][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 15:46:13,424][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, 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)] -[2026-09-15 15:46:13,424][root][INFO] - current_pos: [0.03452353704127553, -0.0001907377737087046, 0.0017166399633783413, 0.000953688868543523, 0.01583123521782248, 0.03414206149385812, -0.0005722133211261138] -[2026-09-15 15:46:13,424][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -[2026-09-15 15:46:13,424][root][INFO] - starting separate thread for control loop -[2026-09-15 15:46:13,525][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.03418803418803407, pos=0.03452353704127553, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789458373.5252612), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789458373.5252612), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789458373.5252612), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789458373.5252612), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.01621271076523989, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789458373.5252612), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.03414206149385812, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789458373.5252612), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789458373.5252612)] -[2026-09-15 15:46:13,525][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 15:46:13,525][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006 -[2026-09-15 15:46:13,525][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 15:46:14,195][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2642 -[2026-09-15 15:46:14,495][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 15:46:15,163][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 -[2026-09-15 15:46:15,463][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.285152971694515, -0.01926451514457561) -[2026-09-15 15:46:15,463][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28515297 -0.01926452] -[2026-09-15 15:46:15,708][root][INFO] - initializing, .... -[2026-09-15 15:46:15,710][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 -[2026-09-15 15:46:15,711][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 -[2026-09-15 15:46:15,711][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 15:46:15,711][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 15:46:15,711][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 15:46:15,711][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 15:46:15,711][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 15:46:15,711][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 15:46:15,711][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 15:46:15,711][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 15:46:15,711][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 15:46:15,711][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 15:46:15,711][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 -[2026-09-15 15:46:15,711][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 -[2026-09-15 15:46:15,712][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:46:15,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 15:46:15,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:15,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:46:15,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 15:46:15,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:15,776][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:46:15,787][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 15:46:15,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:15,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:46:15,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 15:46:15,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:15,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:46:15,853][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 15:46:15,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:15,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:46:15,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 15:46:15,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:15,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:46:15,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 15:46:15,929][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:46:15,940][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:46:15,940][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) -[2026-09-15 15:46:15,940][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 -[2026-09-15 15:46:15,940][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:46:15,996][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 -[2026-09-15 15:46:16,051][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 -[2026-09-15 15:46:16,106][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 -[2026-09-15 15:46:16,161][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 -[2026-09-15 15:46:16,217][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 -[2026-09-15 15:46:16,273][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 -[2026-09-15 15:46:16,328][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 -[2026-09-15 15:46:16,328][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) -[2026-09-15 15:46:16,329][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:46:16,329][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 15:46:16,340][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 15:46:16,345][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 15:46:16,352][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 15:46:16,358][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 15:46:16,364][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 15:46:16,370][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 15:46:16,378][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 15:46:16,384][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] -[2026-09-15 15:46:16,384][root][INFO] - current_pos: [0.017738612954909527, -0.0020981155107957505, 0.0005722133211261138, 0.0001907377737087046, -0.003242542153047978, 0.01583123521782248, -6.286526283665217] -[2026-09-15 15:46:16,384][root][INFO] - motor 6 pos=-6.287, offset -2π -[2026-09-15 15:46:16,384][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -6.283185307179586] -[2026-09-15 15:46:16,384][root][INFO] - starting separate thread for control loop -[2026-09-15 15:46:16,485][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=0.017738612954909527, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789458376.4853742), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789458376.4853742), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789458376.4853742), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789458376.4853742), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.003242542153047978, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789458376.4853742), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.01583123521782248, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789458376.4853742), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.003340976485630698, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789458376.4853742)] -[2026-09-15 15:46:16,485][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 15:46:16,485][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0033 -[2026-09-15 15:46:16,485][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 15:46:17,156][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2515 -[2026-09-15 15:46:17,457][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 15:46:18,083][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0087 -[2026-09-15 15:46:18,383][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.251484689189202, -0.008681634149474426) -[2026-09-15 15:46:18,384][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25148469 -0.00868163] -[2026-09-15 15:46:18,519][root][INFO] - initializing, .... -[2026-09-15 15:46:25,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 238.86 Hz -[2026-09-15 15:46:28,522][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 237.59 Hz -[2026-09-15 15:46:35,720][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 237.73 Hz -[2026-09-15 15:46:38,524][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.01 Hz -[2026-09-15 15:46:43,426][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 238.99 iterations per second over 30.00 seconds. -[2026-09-15 15:46:43,426][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.004184 s, max step_time: 0.074646 s -[2026-09-15 15:46:45,720][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.57 Hz -[2026-09-15 15:46:46,386][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 240.12 iterations per second over 30.00 seconds. -[2026-09-15 15:46:46,386][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.004164 s, max step_time: 0.074013 s -[2026-09-15 15:46:48,530][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.79 Hz -[2026-09-15 15:46:54,354][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] -[2026-09-15 15:46:54,354][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] -[2026-09-15 15:46:55,722][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.67 Hz -[2026-09-15 15:46:58,531][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.08 Hz -[2026-09-15 15:47:05,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.39 Hz -[2026-09-15 15:47:08,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.77 Hz -[2026-09-15 15:47:13,429][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.01 iterations per second over 30.00 seconds. -[2026-09-15 15:47:13,429][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.004048 s, max step_time: 0.007654 s -[2026-09-15 15:47:15,727][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.18 Hz -[2026-09-15 15:47:16,387][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.42 iterations per second over 30.00 seconds. -[2026-09-15 15:47:16,387][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.004042 s, max step_time: 0.007272 s -[2026-09-15 15:47:18,535][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.16 Hz -[2026-09-15 15:47:25,729][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.16 Hz -[2026-09-15 15:47:28,536][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.24 Hz -[2026-09-15 15:47:35,730][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.07 Hz -[2026-09-15 15:47:38,536][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.69 Hz -[2026-09-15 15:47:43,430][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.16 iterations per second over 30.00 seconds. -[2026-09-15 15:47:43,430][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.004062 s, max step_time: 0.007855 s -[2026-09-15 15:47:45,734][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.03 Hz -[2026-09-15 15:47:46,391][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.90 iterations per second over 30.00 seconds. -[2026-09-15 15:47:46,391][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.004050 s, max step_time: 0.007493 s -[2026-09-15 15:47:48,538][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.86 Hz -[2026-09-15 15:47:55,736][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 238.85 Hz -[2026-09-15 15:47:58,540][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 237.44 Hz -[2026-09-15 15:48:05,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 234.25 Hz -[2026-09-15 15:48:08,542][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 237.07 Hz -[2026-09-15 15:48:13,431][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 238.52 iterations per second over 30.00 seconds. -[2026-09-15 15:48:13,432][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 31 times, mean step_time: 0.004193 s, max step_time: 0.026844 s -[2026-09-15 15:48:15,742][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.09 Hz -[2026-09-15 15:48:16,392][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 239.92 iterations per second over 30.00 seconds. -[2026-09-15 15:48:16,392][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.004168 s, max step_time: 0.033638 s -[2026-09-15 15:48:18,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.19 Hz -[2026-09-15 15:48:25,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.10 Hz -[2026-09-15 15:48:28,544][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.46 Hz -[2026-09-15 15:48:35,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.06 Hz -[2026-09-15 15:48:38,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.53 Hz -[2026-09-15 15:48:43,435][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.70 iterations per second over 30.00 seconds. -[2026-09-15 15:48:43,435][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.004021 s, max step_time: 0.007257 s -[2026-09-15 15:48:45,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.21 Hz -[2026-09-15 15:48:46,394][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.89 iterations per second over 30.00 seconds. -[2026-09-15 15:48:46,394][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.004034 s, max step_time: 0.008270 s -[2026-09-15 15:48:48,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.54 Hz -[2026-09-15 15:48:55,750][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.28 Hz -[2026-09-15 15:48:58,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.82 Hz -[2026-09-15 15:49:05,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 235.63 Hz -[2026-09-15 15:49:08,555][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 235.98 Hz -[2026-09-15 15:49:13,436][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 240.52 iterations per second over 30.00 seconds. -[2026-09-15 15:49:13,437][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004158 s, max step_time: 0.020811 s -[2026-09-15 15:49:15,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.69 Hz -[2026-09-15 15:49:16,397][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 242.14 iterations per second over 30.00 seconds. -[2026-09-15 15:49:16,397][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004130 s, max step_time: 0.021968 s -[2026-09-15 15:49:18,555][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.25 Hz -[2026-09-15 15:49:25,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.68 Hz -[2026-09-15 15:49:28,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.18 Hz -[2026-09-15 15:49:35,755][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 -[2026-09-15 15:49:38,558][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.66 Hz -[2026-09-15 15:49:43,438][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.62 iterations per second over 30.00 seconds. -[2026-09-15 15:49:43,438][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.004038 s, max step_time: 0.007068 s -[2026-09-15 15:49:45,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.47 Hz -[2026-09-15 15:49:46,401][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.17 iterations per second over 30.00 seconds. -[2026-09-15 15:49:46,401][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.004030 s, max step_time: 0.008544 s -[2026-09-15 15:49:48,558][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.28 Hz -[2026-09-15 15:49:55,759][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.52 Hz -[2026-09-15 15:49:58,561][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.74 Hz -[2026-09-15 15:50:05,761][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.75 Hz -[2026-09-15 15:50:08,565][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.40 Hz -[2026-09-15 15:50:13,439][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.66 iterations per second over 30.00 seconds. -[2026-09-15 15:50:13,439][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.004054 s, max step_time: 0.008111 s -[2026-09-15 15:50:15,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.34 Hz -[2026-09-15 15:50:16,403][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.98 iterations per second over 30.00 seconds. -[2026-09-15 15:50:16,403][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.004033 s, max step_time: 0.007695 s -[2026-09-15 15:50:18,569][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.22 Hz -[2026-09-15 15:50:25,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.79 Hz -[2026-09-15 15:50:28,571][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.61 Hz -[2026-09-15 15:50:35,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.72 Hz -[2026-09-15 15:50:38,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.95 Hz -[2026-09-15 15:50:43,441][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 245.35 iterations per second over 30.00 seconds. -[2026-09-15 15:50:43,441][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 54 times, mean step_time: 0.004076 s, max step_time: 0.009160 s -[2026-09-15 15:50:45,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.74 Hz -[2026-09-15 15:50:46,404][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.66 iterations per second over 30.00 seconds. -[2026-09-15 15:50:46,404][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.004054 s, max step_time: 0.010596 s -[2026-09-15 15:50:48,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.79 Hz -[2026-09-15 15:50:55,773][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.52 Hz -[2026-09-15 15:50:58,575][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.18 Hz -[2026-09-15 15:51:05,773][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.29 Hz -[2026-09-15 15:51:08,578][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.33 Hz -[2026-09-15 15:51:13,442][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 244.59 iterations per second over 30.00 seconds. -[2026-09-15 15:51:13,442][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 80 times, mean step_time: 0.004088 s, max step_time: 0.010622 s -[2026-09-15 15:51:15,775][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.53 Hz -[2026-09-15 15:51:16,406][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.42 iterations per second over 30.00 seconds. -[2026-09-15 15:51:16,406][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 83 times, mean step_time: 0.004075 s, max step_time: 0.011765 s -[2026-09-15 15:51:18,578][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.40 Hz -[2026-09-15 15:51:25,776][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.49 Hz -[2026-09-15 15:51:28,578][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.69 Hz -[2026-09-15 15:51:34,725][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.73 iterations per second over 18.32 seconds. -[2026-09-15 15:51:34,734][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.22 iterations per second over 21.29 seconds. -[2026-09-15 15:51:51,876][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml -[2026-09-15 15:51:51,877][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) -[2026-09-15 15:51:51,877][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) -[2026-09-15 15:51:51,877][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] -[2026-09-15 15:51:51,877][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] -[2026-09-15 15:51:51,877][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] -[2026-09-15 15:51:51,877][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] -[2026-09-15 15:51:51,877][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] -[2026-09-15 15:51:51,877][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) -[2026-09-15 15:51:51,878][i2rt.robots.utils][INFO] - motor_type: DM4310 -[2026-09-15 15:51:51,878][i2rt.robots.utils][INFO] - motor_kp: 20.0 -[2026-09-15 15:51:51,878][i2rt.robots.utils][INFO] - motor_kd: 0.5 -[2026-09-15 15:51:51,878][i2rt.robots.utils][INFO] - gripper_limits: None -[2026-09-15 15:51:51,878][i2rt.robots.utils][INFO] - needs_calibration: True -[2026-09-15 15:51:51,878][i2rt.robots.utils][INFO] - motor_direction: 1 -[2026-09-15 15:51:51,878][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} -[2026-09-15 15:51:51,879][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 -[2026-09-15 15:51:51,879][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 -[2026-09-15 15:51:51,879][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 15:51:51,879][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 15:51:51,879][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 15:51:51,879][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 15:51:51,879][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 15:51:51,879][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 15:51:51,879][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 15:51:51,879][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 15:51:51,879][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 15:51:51,879][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 15:51:51,879][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 -[2026-09-15 15:51:51,879][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 -[2026-09-15 15:51:51,880][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:51:51,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 15:51:51,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 -[2026-09-15 15:51:51,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:51:51,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 15:51:51,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:51,947][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:51:51,958][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 15:51:51,969][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:51,980][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:51:51,991][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 15:51:52,002][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:52,013][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:51:52,024][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 15:51:52,035][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:52,046][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:51:52,057][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 15:51:52,068][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:52,078][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:51:52,090][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 15:51:52,100][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:52,111][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:51:52,111][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) -[2026-09-15 15:51:52,111][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 -[2026-09-15 15:51:52,112][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:51:52,166][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 -[2026-09-15 15:51:52,221][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 -[2026-09-15 15:51:52,276][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 -[2026-09-15 15:51:52,330][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 -[2026-09-15 15:51:52,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 -[2026-09-15 15:51:52,442][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 -[2026-09-15 15:51:52,497][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 -[2026-09-15 15:51:52,497][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) -[2026-09-15 15:51:52,497][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:51:52,497][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 15:51:52,508][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 15:51:52,514][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 15:51:52,520][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 15:51:52,526][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 15:51:52,532][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 15:51:52,539][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 15:51:52,546][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 15:51:52,553][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] -[2026-09-15 15:51:52,553][root][INFO] - current_pos: [0.03414206149385812, -0.0001907377737087046, 0.0017166399633783413, 0.000953688868543523, 0.015068284122987663, 0.060463874265659356, -0.002861066605630569] -[2026-09-15 15:51:52,553][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -[2026-09-15 15:51:52,553][root][INFO] - starting separate thread for control loop -[2026-09-15 15:51:52,654][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.03414206149385812, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789458712.6540003), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789458712.6540003), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.02051282051282044, pos=0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=30.0, timestamp=1789458712.6540003), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=32.0, timestamp=1789458712.6540003), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.015068284122987663, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789458712.6540003), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.060463874265659356, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789458712.6540003), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.002861066605630569, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789458712.6540003)] -[2026-09-15 15:51:52,654][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 15:51:52,654][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 -[2026-09-15 15:51:52,654][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 15:51:53,326][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2642 -[2026-09-15 15:51:53,626][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 15:51:54,250][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 -[2026-09-15 15:51:54,550][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.308422980086977, -0.0066758220798082135) -[2026-09-15 15:51:54,551][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.30842298 -0.00667582] -[2026-09-15 15:51:54,797][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 -[2026-09-15 15:51:54,797][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 -[2026-09-15 15:51:54,797][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 15:51:54,797][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 15:51:54,797][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 15:51:54,797][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 15:51:54,797][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 15:51:54,797][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 15:51:54,797][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 15:51:54,797][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 15:51:54,797][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 15:51:54,797][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 15:51:54,797][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 -[2026-09-15 15:51:54,797][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 -[2026-09-15 15:51:54,798][root][INFO] - initializing, .... -[2026-09-15 15:51:54,798][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:51:54,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 15:51:54,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:54,832][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:51:54,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 15:51:54,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:54,865][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:51:54,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 15:51:54,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:54,898][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:51:54,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 15:51:54,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:54,931][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:51:54,942][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 15:51:54,953][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:54,964][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:51:54,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 15:51:54,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:54,998][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:51:55,010][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 15:51:55,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:51:55,032][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:51:55,032][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) -[2026-09-15 15:51:55,032][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 -[2026-09-15 15:51:55,032][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:51:55,088][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 -[2026-09-15 15:51:55,144][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 -[2026-09-15 15:51:55,199][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 -[2026-09-15 15:51:55,254][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 -[2026-09-15 15:51:55,310][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 -[2026-09-15 15:51:55,364][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 -[2026-09-15 15:51:55,419][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 -[2026-09-15 15:51:55,419][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) -[2026-09-15 15:51:55,419][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:51:55,420][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 15:51:55,431][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 15:51:55,436][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 15:51:55,443][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 15:51:55,449][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 15:51:55,456][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 15:51:55,462][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 15:51:55,469][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 15:51:55,475][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] -[2026-09-15 15:51:55,475][root][INFO] - current_pos: [0.04863813229571967, -0.0013351644159609322, 0.0005722133211261138, 0.0040054932478827965, 0.04329747463187594, -0.1119630731670096, -6.285381857022965] -[2026-09-15 15:51:55,475][root][INFO] - motor 6 pos=-6.285, offset -2π -[2026-09-15 15:51:55,475][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -6.283185307179586] -[2026-09-15 15:51:55,475][root][INFO] - starting separate thread for control loop -[2026-09-15 15:51:55,576][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.03418803418803407, pos=0.04863813229571967, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789458715.576176), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789458715.576176), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=28.0, timestamp=1789458715.576176), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0040054932478827965, voltage=-1, temp_mos=29.0, temp_rotor=31.0, timestamp=1789458715.576176), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.04367895017929335, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789458715.576176), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.11158159761958863, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789458715.576176), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0021965498433784703, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789458715.576176)] -[2026-09-15 15:51:55,576][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 15:51:55,576][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0022 -[2026-09-15 15:51:55,576][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 15:51:56,193][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2515 -[2026-09-15 15:51:56,493][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 15:51:57,114][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0091 -[2026-09-15 15:51:57,414][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2545364935685415, -0.009063109696891836) -[2026-09-15 15:51:57,415][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25453649 -0.00906311] -[2026-09-15 15:51:57,549][root][INFO] - initializing, .... -[2026-09-15 15:52:04,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.59 Hz -[2026-09-15 15:52:07,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.66 Hz -[2026-09-15 15:52:14,801][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.26 Hz -[2026-09-15 15:52:17,556][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.72 Hz -[2026-09-15 15:52:22,556][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.88 iterations per second over 30.00 seconds. -[2026-09-15 15:52:22,556][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.004018 s, max step_time: 0.065434 s -[2026-09-15 15:52:23,848][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.53 iterations per second over 28.37 seconds. -[2026-09-15 15:52:23,858][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.54 iterations per second over 1.30 seconds. -[2026-09-15 15:58:33,100][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml -[2026-09-15 15:58:33,101][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) -[2026-09-15 15:58:33,101][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) -[2026-09-15 15:58:33,101][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] -[2026-09-15 15:58:33,101][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] -[2026-09-15 15:58:33,101][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] -[2026-09-15 15:58:33,101][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] -[2026-09-15 15:58:33,101][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] -[2026-09-15 15:58:33,101][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) -[2026-09-15 15:58:33,102][i2rt.robots.utils][INFO] - motor_type: DM4310 -[2026-09-15 15:58:33,102][i2rt.robots.utils][INFO] - motor_kp: 20.0 -[2026-09-15 15:58:33,102][i2rt.robots.utils][INFO] - motor_kd: 0.5 -[2026-09-15 15:58:33,102][i2rt.robots.utils][INFO] - gripper_limits: None -[2026-09-15 15:58:33,102][i2rt.robots.utils][INFO] - needs_calibration: True -[2026-09-15 15:58:33,102][i2rt.robots.utils][INFO] - motor_direction: 1 -[2026-09-15 15:58:33,102][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} -[2026-09-15 15:58:33,103][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 -[2026-09-15 15:58:33,103][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 -[2026-09-15 15:58:33,103][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 15:58:33,103][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 15:58:33,103][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 15:58:33,103][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 15:58:33,103][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 15:58:33,103][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 15:58:33,103][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 15:58:33,103][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 15:58:33,103][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 15:58:33,103][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 15:58:33,103][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 -[2026-09-15 15:58:33,103][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 -[2026-09-15 15:58:33,104][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:58:33,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 15:58:33,127][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 -[2026-09-15 15:58:33,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:58:33,149][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 15:58:33,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:33,171][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:58:33,182][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 15:58:33,193][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:33,204][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:58:33,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 15:58:33,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:33,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:58:33,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 15:58:33,259][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:33,270][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:58:33,281][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 15:58:33,292][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:33,303][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:58:33,314][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 15:58:33,325][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:33,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:58:33,336][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) -[2026-09-15 15:58:33,336][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 -[2026-09-15 15:58:33,336][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:58:33,391][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 -[2026-09-15 15:58:33,445][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 -[2026-09-15 15:58:33,501][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 -[2026-09-15 15:58:33,556][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 -[2026-09-15 15:58:33,611][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 -[2026-09-15 15:58:33,666][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 -[2026-09-15 15:58:33,719][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 -[2026-09-15 15:58:33,719][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) -[2026-09-15 15:58:33,720][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:58:33,720][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 15:58:33,730][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 15:58:33,736][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 15:58:33,742][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 15:58:33,747][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 15:58:33,754][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 15:58:33,760][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 15:58:33,766][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 15:58:33,773][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=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] -[2026-09-15 15:58:33,773][root][INFO] - current_pos: [0.03414206149385812, -0.0001907377737087046, 0.0017166399633783413, 0.000953688868543523, 0.01201647974364839, 0.08602273594262577, -0.0005722133211261138] -[2026-09-15 15:58:33,773][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -[2026-09-15 15:58:33,773][root][INFO] - starting separate thread for control loop -[2026-09-15 15:58:33,874][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.03414206149385812, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789459113.8740776), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789459113.8740776), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789459113.8740776), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789459113.8740776), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.01201647974364839, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789459113.8740776), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.08602273594262577, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789459113.8740776), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789459113.8740776)] -[2026-09-15 15:58:33,874][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 15:58:33,874][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006 -[2026-09-15 15:58:33,874][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 15:58:34,495][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2638 -[2026-09-15 15:58:34,795][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 15:58:35,415][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 -[2026-09-15 15:58:35,715][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2668421454184795, -0.0066758220798082135) -[2026-09-15 15:58:35,715][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26684215 -0.00667582] -[2026-09-15 15:58:35,965][root][INFO] - initializing, .... -[2026-09-15 15:58:35,965][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 -[2026-09-15 15:58:35,966][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 -[2026-09-15 15:58:35,966][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 15:58:35,966][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 15:58:35,966][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 15:58:35,966][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 15:58:35,966][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 15:58:35,966][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 15:58:35,966][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 15:58:35,966][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 15:58:35,966][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 15:58:35,966][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 15:58:35,966][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 -[2026-09-15 15:58:35,966][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 -[2026-09-15 15:58:35,966][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:58:35,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 15:58:35,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:36,000][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:58:36,011][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 15:58:36,022][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:36,033][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:58:36,044][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 15:58:36,055][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:36,066][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 15:58:36,077][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 15:58:36,089][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:36,100][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:58:36,111][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 15:58:36,122][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:36,133][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:58:36,144][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 15:58:36,155][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:36,166][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:58:36,177][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 15:58:36,188][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 15:58:36,199][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 15:58:36,199][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) -[2026-09-15 15:58:36,199][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 -[2026-09-15 15:58:36,199][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:58:36,254][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 -[2026-09-15 15:58:36,310][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 -[2026-09-15 15:58:36,366][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 -[2026-09-15 15:58:36,422][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 -[2026-09-15 15:58:36,477][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 -[2026-09-15 15:58:36,533][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 -[2026-09-15 15:58:36,588][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 -[2026-09-15 15:58:36,588][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) -[2026-09-15 15:58:36,588][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 15:58:36,588][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 15:58:36,600][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 15:58:36,606][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 15:58:36,613][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 15:58:36,619][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 15:58:36,625][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 15:58:36,631][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 15:58:36,637][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 15:58:36,644][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] -[2026-09-15 15:58:36,644][root][INFO] - current_pos: [0.10166323338673955, 0.0005722133211261138, 0.0005722133211261138, 0.0005722133211261138, -0.0020981155107957505, 0.14209964141298492, -4.1102082856488895] -[2026-09-15 15:58:36,644][root][INFO] - motor 6 pos=-4.110, offset -2π -[2026-09-15 15:58:36,644][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -6.283185307179586] -[2026-09-15 15:58:36,644][root][INFO] - starting separate thread for control loop -[2026-09-15 15:58:36,744][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=0.10166323338673955, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789459116.7448072), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789459116.7448072), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789459116.7448072), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789459116.7448072), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789459116.7448072), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.14209964141298492, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789459116.7448072), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=2.1733584970781106, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789459116.7448072)] -[2026-09-15 15:58:36,745][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 15:58:36,745][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 2.1734 -[2026-09-15 15:58:36,745][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 15:58:37,317][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2515 -[2026-09-15 15:58:37,617][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 15:58:38,232][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0087 -[2026-09-15 15:58:38,533][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270939942107491, -0.008681634149473538) -[2026-09-15 15:58:38,533][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27093994 -0.00868163] -[2026-09-15 15:58:38,665][root][INFO] - initializing, .... -[2026-09-15 15:58:45,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 238.89 Hz -[2026-09-15 15:58:48,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.37 Hz -[2026-09-15 15:58:55,971][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 236.89 Hz -[2026-09-15 15:58:58,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 237.15 Hz -[2026-09-15 15:59:03,774][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 239.46 iterations per second over 30.00 seconds. -[2026-09-15 15:59:03,775][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.004176 s, max step_time: 0.073202 s -[2026-09-15 15:59:05,972][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 240.83 Hz -[2026-09-15 15:59:06,645][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 240.76 iterations per second over 30.00 seconds. -[2026-09-15 15:59:06,645][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004153 s, max step_time: 0.073416 s -[2026-09-15 15:59:08,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.59 Hz -[2026-09-15 15:59:15,974][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.56 Hz -[2026-09-15 15:59:18,671][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.33 Hz -[2026-09-15 15:59:25,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.29 Hz -[2026-09-15 15:59:28,673][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.32 Hz -[2026-09-15 15:59:33,777][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 243.18 iterations per second over 30.00 seconds. -[2026-09-15 15:59:33,777][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004112 s, max step_time: 0.009537 s -[2026-09-15 15:59:35,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 234.73 Hz -[2026-09-15 15:59:36,648][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 242.84 iterations per second over 30.00 seconds. -[2026-09-15 15:59:36,648][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.004118 s, max step_time: 0.008522 s -[2026-09-15 15:59:38,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 235.65 Hz -[2026-09-15 15:59:45,980][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 237.85 Hz -[2026-09-15 15:59:48,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.01 Hz -[2026-09-15 15:59:55,980][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.97 Hz -[2026-09-15 15:59:58,682][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.86 Hz -[2026-09-15 16:00:03,781][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 242.40 iterations per second over 30.00 seconds. -[2026-09-15 16:00:03,781][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004125 s, max step_time: 0.019106 s -[2026-09-15 16:00:05,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.24 Hz -[2026-09-15 16:00:06,649][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 244.99 iterations per second over 30.00 seconds. -[2026-09-15 16:00:06,650][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004082 s, max step_time: 0.016461 s -[2026-09-15 16:00:08,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.15 Hz -[2026-09-15 16:00:15,985][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.35 Hz -[2026-09-15 16:00:18,687][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.22 Hz -[2026-09-15 16:00:25,989][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.50 Hz -[2026-09-15 16:00:28,690][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.43 Hz -[2026-09-15 16:00:33,782][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 243.99 iterations per second over 30.00 seconds. -[2026-09-15 16:00:33,784][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.004099 s, max step_time: 0.008086 s -[2026-09-15 16:00:35,990][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 -[2026-09-15 16:00:36,650][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 242.46 iterations per second over 30.00 seconds. -[2026-09-15 16:00:36,650][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.004124 s, max step_time: 0.007364 s -[2026-09-15 16:00:38,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.33 Hz -[2026-09-15 16:00:45,990][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.89 Hz -[2026-09-15 16:00:48,697][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.41 Hz -[2026-09-15 16:00:55,991][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.98 Hz -[2026-09-15 16:00:58,698][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.27 Hz -[2026-09-15 16:01:03,785][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 243.98 iterations per second over 30.00 seconds. -[2026-09-15 16:01:03,801][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.004101 s, max step_time: 0.022087 s -[2026-09-15 16:01:05,994][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 -[2026-09-15 16:01:06,655][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 244.83 iterations per second over 30.00 seconds. -[2026-09-15 16:01:06,655][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.004085 s, max step_time: 0.007369 s -[2026-09-15 16:01:08,698][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.98 Hz -[2026-09-15 16:01:15,998][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.33 Hz -[2026-09-15 16:01:18,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.30 Hz -[2026-09-15 16:01:26,001][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.63 Hz -[2026-09-15 16:01:28,706][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.79 Hz -[2026-09-15 16:01:33,786][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 242.29 iterations per second over 30.00 seconds. -[2026-09-15 16:01:33,804][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.004125 s, max step_time: 0.008032 s -[2026-09-15 16:01:36,003][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.47 Hz -[2026-09-15 16:01:36,656][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 243.59 iterations per second over 30.00 seconds. -[2026-09-15 16:01:36,657][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.004105 s, max step_time: 0.007715 s -[2026-09-15 16:01:38,705][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.37 Hz -[2026-09-15 16:01:43,566][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.95 iterations per second over 6.91 seconds. -[2026-09-15 16:01:43,573][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.69 iterations per second over 9.79 seconds. -[2026-09-15 16:02:55,535][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml -[2026-09-15 16:02:55,536][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) -[2026-09-15 16:02:55,536][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) -[2026-09-15 16:02:55,537][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] -[2026-09-15 16:02:55,537][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] -[2026-09-15 16:02:55,537][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] -[2026-09-15 16:02:55,537][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] -[2026-09-15 16:02:55,537][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] -[2026-09-15 16:02:55,537][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) -[2026-09-15 16:02:55,538][i2rt.robots.utils][INFO] - motor_type: DM4310 -[2026-09-15 16:02:55,538][i2rt.robots.utils][INFO] - motor_kp: 20.0 -[2026-09-15 16:02:55,538][i2rt.robots.utils][INFO] - motor_kd: 0.5 -[2026-09-15 16:02:55,538][i2rt.robots.utils][INFO] - gripper_limits: None -[2026-09-15 16:02:55,538][i2rt.robots.utils][INFO] - needs_calibration: True -[2026-09-15 16:02:55,538][i2rt.robots.utils][INFO] - motor_direction: 1 -[2026-09-15 16:02:55,538][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} -[2026-09-15 16:02:55,538][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 -[2026-09-15 16:02:55,538][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 -[2026-09-15 16:02:55,539][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 16:02:55,539][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 16:02:55,539][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 16:02:55,539][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 16:02:55,539][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 16:02:55,539][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 16:02:55,539][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 16:02:55,539][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 16:02:55,539][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 16:02:55,539][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 16:02:55,539][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 -[2026-09-15 16:02:55,539][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 -[2026-09-15 16:02:55,540][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 16:02:55,552][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 16:02:55,563][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 -[2026-09-15 16:02:55,574][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 16:02:55,585][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 16:02:55,596][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:55,607][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 16:02:55,618][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 16:02:55,629][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:55,640][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 16:02:55,651][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 16:02:55,662][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:55,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 16:02:55,684][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 16:02:55,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:55,706][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 16:02:55,717][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 16:02:55,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:55,739][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 16:02:55,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 16:02:55,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:55,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 16:02:55,772][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) -[2026-09-15 16:02:55,772][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 -[2026-09-15 16:02:55,772][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 16:02:55,828][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 -[2026-09-15 16:02:55,883][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 -[2026-09-15 16:02:55,938][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 -[2026-09-15 16:02:55,993][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 -[2026-09-15 16:02:56,049][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 -[2026-09-15 16:02:56,104][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 -[2026-09-15 16:02:56,159][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 -[2026-09-15 16:02:56,159][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) -[2026-09-15 16:02:56,160][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 16:02:56,160][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 16:02:56,171][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 16:02:56,177][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 16:02:56,183][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 16:02:56,189][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 16:02:56,196][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 16:02:56,203][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 16:02:56,210][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 16:02:56,217][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] -[2026-09-15 16:02:56,217][root][INFO] - current_pos: [0.03414206149385812, -0.0001907377737087046, 0.0017166399633783413, 0.0013351644159609322, -0.006294346532387252, 0.10166323338673955, -0.0001907377737087046] -[2026-09-15 16:02:56,217][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -[2026-09-15 16:02:56,217][root][INFO] - starting separate thread for control loop -[2026-09-15 16:02:56,317][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=0.03414206149385812, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789459376.317743), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789459376.317743), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789459376.317743), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789459376.317743), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.0066758220798082135, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789459376.317743), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.10166323338673955, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789459376.317743), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0005722133211296665, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789459376.317743)] -[2026-09-15 16:02:56,317][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 16:02:56,317][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006 -[2026-09-15 16:02:56,317][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 16:02:56,990][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2638 -[2026-09-15 16:02:57,290][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 16:02:57,917][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 -[2026-09-15 16:02:58,218][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.314145113298238, -0.006675822079804661) -[2026-09-15 16:02:58,218][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.31414511 -0.00667582] -[2026-09-15 16:02:58,460][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 -[2026-09-15 16:02:58,460][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 -[2026-09-15 16:02:58,460][i2rt.robots.get_robot][INFO] - joint limits (8 joints): -[2026-09-15 16:02:58,460][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] -[2026-09-15 16:02:58,460][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] -[2026-09-15 16:02:58,460][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] -[2026-09-15 16:02:58,460][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] -[2026-09-15 16:02:58,460][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] -[2026-09-15 16:02:58,460][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] -[2026-09-15 16:02:58,460][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] -[2026-09-15 16:02:58,460][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] -[2026-09-15 16:02:58,460][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 -[2026-09-15 16:02:58,460][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 -[2026-09-15 16:02:58,460][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 -[2026-09-15 16:02:58,461][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 16:02:58,461][root][INFO] - initializing, .... -[2026-09-15 16:02:58,472][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 -[2026-09-15 16:02:58,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:58,494][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 16:02:58,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 -[2026-09-15 16:02:58,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:58,526][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 16:02:58,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 -[2026-09-15 16:02:58,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:58,559][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 -[2026-09-15 16:02:58,570][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 -[2026-09-15 16:02:58,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:58,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 16:02:58,603][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 -[2026-09-15 16:02:58,614][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:58,625][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 16:02:58,635][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 -[2026-09-15 16:02:58,646][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:58,657][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 16:02:58,668][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 -[2026-09-15 16:02:58,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 -[2026-09-15 16:02:58,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 -[2026-09-15 16:02:58,690][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) -[2026-09-15 16:02:58,690][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 -[2026-09-15 16:02:58,690][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 16:02:58,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 -[2026-09-15 16:02:58,800][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 -[2026-09-15 16:02:58,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 -[2026-09-15 16:02:58,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 -[2026-09-15 16:02:58,961][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 -[2026-09-15 16:02:59,015][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 -[2026-09-15 16:02:59,069][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 -[2026-09-15 16:02:59,069][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) -[2026-09-15 16:02:59,070][can.interfaces.socketcan.socketcan][INFO] - Created a socket -[2026-09-15 16:02:59,070][root][INFO] - Can interface yam_real use_buffered_reader: False -[2026-09-15 16:02:59,080][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 -[2026-09-15 16:02:59,085][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 -[2026-09-15 16:02:59,092][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 -[2026-09-15 16:02:59,099][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 -[2026-09-15 16:02:59,105][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 -[2026-09-15 16:02:59,112][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 -[2026-09-15 16:02:59,118][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 -[2026-09-15 16:02:59,124][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] -[2026-09-15 16:02:59,124][root][INFO] - current_pos: [0.004768444342717615, -0.0013351644159609322, 0.000953688868543523, 0.0005722133211261138, -0.0005722133211261138, -0.019264515144579164, -6.2861448081177995] -[2026-09-15 16:02:59,124][root][INFO] - motor 6 pos=-6.286, offset -2π -[2026-09-15 16:02:59,124][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -6.283185307179586] -[2026-09-15 16:02:59,124][root][INFO] - starting separate thread for control loop -[2026-09-15 16:02:59,224][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.02051282051282044, pos=0.004768444342717615, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789459379.224797), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789459379.224797), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789459379.224797), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789459379.224797), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.00019073777370515188, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789459379.224797), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.019264515144579164, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789459379.224797), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0029595009382132886, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789459379.224797)] -[2026-09-15 16:02:59,224][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... -[2026-09-15 16:02:59,225][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0030 -[2026-09-15 16:02:59,225][i2rt.robots.utils][INFO] - Testing gripper direction: 1 -[2026-09-15 16:02:59,842][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2515 -[2026-09-15 16:03:00,142][i2rt.robots.utils][INFO] - Testing gripper direction: -1 -[2026-09-15 16:03:00,769][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0087 -[2026-09-15 16:03:01,070][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.256443871305625, -0.009063109696891836) -[2026-09-15 16:03:01,070][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25644387 -0.00906311] -[2026-09-15 16:03:01,215][root][INFO] - initializing, .... -[2026-09-15 16:03:08,464][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 239.87 Hz -[2026-09-15 16:03:11,221][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 233.34 Hz -[2026-09-15 16:03:18,468][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 230.18 Hz -[2026-09-15 16:03:21,220][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 232.97 Hz -[2026-09-15 16:03:26,219][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 235.82 iterations per second over 30.00 seconds. -[2026-09-15 16:03:26,219][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 69 times, mean step_time: 0.004240 s, max step_time: 0.066019 s -[2026-09-15 16:03:28,469][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 238.80 Hz -[2026-09-15 16:03:29,127][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 236.35 iterations per second over 30.00 seconds. -[2026-09-15 16:03:29,127][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 58 times, mean step_time: 0.004230 s, max step_time: 0.069194 s -[2026-09-15 16:03:31,223][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.97 Hz -[2026-09-15 16:03:38,470][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.08 Hz -[2026-09-15 16:03:41,225][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.81 Hz -[2026-09-15 16:03:48,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.00 Hz -[2026-09-15 16:03:51,228][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.53 Hz -[2026-09-15 16:03:56,221][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 245.88 iterations per second over 30.00 seconds. -[2026-09-15 16:03:56,221][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.004067 s, max step_time: 0.007643 s -[2026-09-15 16:03:58,473][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.66 Hz -[2026-09-15 16:03:59,129][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.78 iterations per second over 30.00 seconds. -[2026-09-15 16:03:59,129][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.004052 s, max step_time: 0.007513 s -[2026-09-15 16:04:01,232][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.00 Hz -[2026-09-15 16:04:08,474][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 233.66 Hz -[2026-09-15 16:04:11,236][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.10 Hz -[2026-09-15 16:04:18,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 232.56 Hz -[2026-09-15 16:04:21,241][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 236.20 Hz -[2026-09-15 16:04:26,224][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 237.02 iterations per second over 30.00 seconds. -[2026-09-15 16:04:26,224][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.004219 s, max step_time: 0.030764 s -[2026-09-15 16:04:28,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.18 Hz -[2026-09-15 16:04:29,132][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 239.44 iterations per second over 30.00 seconds. -[2026-09-15 16:04:29,132][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.004176 s, max step_time: 0.025279 s -[2026-09-15 16:04:31,241][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.18 Hz -[2026-09-15 16:04:38,478][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.26 Hz -[2026-09-15 16:04:41,246][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.69 Hz -[2026-09-15 16:04:48,481][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.21 Hz -[2026-09-15 16:04:51,249][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.61 Hz -[2026-09-15 16:04:56,227][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 240.47 iterations per second over 30.00 seconds. -[2026-09-15 16:04:56,227][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004158 s, max step_time: 0.009040 s -[2026-09-15 16:04:58,484][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 234.25 Hz -[2026-09-15 16:04:59,136][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 239.96 iterations per second over 30.00 seconds. -[2026-09-15 16:04:59,137][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004167 s, max step_time: 0.008658 s -[2026-09-15 16:05:01,253][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 236.04 Hz -[2026-09-15 16:05:08,487][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 233.76 Hz -[2026-09-15 16:05:11,255][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 237.45 Hz -[2026-09-15 16:05:18,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.60 Hz -[2026-09-15 16:05:21,257][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.44 Hz -[2026-09-15 16:05:26,230][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 240.34 iterations per second over 30.00 seconds. -[2026-09-15 16:05:26,230][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.004161 s, max step_time: 0.029946 s -[2026-09-15 16:05:28,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.59 Hz -[2026-09-15 16:05:29,139][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 241.81 iterations per second over 30.00 seconds. -[2026-09-15 16:05:29,139][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004135 s, max step_time: 0.036470 s -[2026-09-15 16:05:31,256][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.50 Hz -[2026-09-15 16:05:38,487][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.76 Hz -[2026-09-15 16:05:41,256][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.59 Hz -[2026-09-15 16:05:48,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 234.84 Hz -[2026-09-15 16:05:51,257][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 235.18 Hz -[2026-09-15 16:05:56,233][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 237.70 iterations per second over 30.00 seconds. -[2026-09-15 16:05:56,233][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.004207 s, max step_time: 0.009855 s -[2026-09-15 16:05:58,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 232.59 Hz -[2026-09-15 16:05:59,142][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 237.24 iterations per second over 30.00 seconds. -[2026-09-15 16:05:59,143][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.004215 s, max step_time: 0.010668 s -[2026-09-15 16:06:01,258][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 234.19 Hz -[2026-09-15 16:06:08,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.77 Hz -[2026-09-15 16:06:11,261][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.62 Hz -[2026-09-15 16:06:18,492][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.07 Hz -[2026-09-15 16:06:20,570][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.61 iterations per second over 21.43 seconds. -[2026-09-15 16:06:20,577][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.36 iterations per second over 24.34 seconds. diff --git a/eval/YAM/pick_bread/metadata/rounds.json b/eval/YAM/pick_bread/metadata/rounds.json deleted file mode 100644 index 4d57ea322d2bc19f6d5ef4de75dfb7c868be79b9..0000000000000000000000000000000000000000 --- a/eval/YAM/pick_bread/metadata/rounds.json +++ /dev/null @@ -1,102 +0,0 @@ -{ - "rounds": [ - { - "actions_sent": 300, - "chunks": 10, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0002", - "round_number": 2, - "status": "completed" - }, - { - "actions_sent": 300, - "chunks": 10, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0003", - "round_number": 3, - "status": "completed" - }, - { - "actions_sent": 300, - "chunks": 10, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0004", - "round_number": 4, - "status": "completed" - }, - { - "actions_sent": 600, - "chunks": 20, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0007", - "round_number": 7, - "status": "completed" - }, - { - "actions_sent": 600, - "chunks": 20, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0008", - "round_number": 8, - "status": "completed" - }, - { - "actions_sent": 600, - "chunks": 20, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0009", - "round_number": 9, - "status": "completed" - }, - { - "actions_sent": 600, - "chunks": 20, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0010", - "round_number": 10, - "status": "completed" - }, - { - "actions_sent": 468, - "chunks": 15, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0011", - "round_number": 11, - "status": "failed" - }, - { - "actions_sent": 600, - "chunks": 20, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0012", - "round_number": 12, - "status": "completed" - }, - { - "actions_sent": 466, - "chunks": 15, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0013", - "round_number": 13, - "status": "failed" - }, - { - "actions_sent": 600, - "chunks": 20, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0014", - "round_number": 14, - "status": "completed" - }, - { - "actions_sent": 600, - "chunks": 20, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0015", - "round_number": 15, - "status": "completed" - }, - { - "actions_sent": 600, - "chunks": 20, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0016", - "round_number": 16, - "status": "completed" - }, - { - "actions_sent": 600, - "chunks": 20, - "output_dir": "outputs/openpi_rollout/six_task_5000/pickbread/data/round_0017", - "round_number": 17, - "status": "completed" - } - ] -} diff --git a/eval/YAM/pick_bread/metadata/runtime/output.lock b/eval/YAM/pick_bread/metadata/runtime/output.lock deleted file mode 100644 index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000