diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2229d54310af6d26fe389d443d96ca0054de41db
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/manifests/action.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/manifests/event.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/metadata.json
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index 0000000000000000000000000000000000000000..82eeb4e67b3797da794988823c8f3abfa4fdcea4
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+{
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+    "timestamps": "camera/timestamp.pkl::base_0",
+    "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
+    "video": "camera/base_0_rgb.mp4",
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+    "timestamps": "camera/timestamp.pkl::left_wrist_0",
+    "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
+    "video": "camera/left_wrist_0_rgb.mp4",
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diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/timestamp.pkl b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/timestamp.pkl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/async_events.jsonl
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index 0000000000000000000000000000000000000000..4da1fb73f62506607a91c73ab6d0abaabf51db99
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diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/event/event_dict.pkl b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/event/event_dict.pkl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/action.json
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index 0000000000000000000000000000000000000000..da18b78ea574470398c01c60f56a1ea5d691edac
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+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/action.json
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+    "record_id": "prometheus_action_recorder",
+    "record_mode": "action",
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789911333.5071537
+  }
+}
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/camera.json b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..79102eb12a4a6335069d49be1450f829f7de6e32
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/camera.json
@@ -0,0 +1,101 @@
+{
+  "prometheus_camera_base_0_recorder": {
+    "camera_frames": {
+      "base_0_rgb": 424
+    },
+    "camera_timestamp_samples": 424,
+    "complete_sensor_bundles": 424,
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "failure": "",
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_camera_base_0_recorder",
+    "record_mode": "sensor",
+    "schema": "prometheus_raw_episode_v1",
+    "sensor_kind": "camera",
+    "sensor_name": "base_0",
+    "status": "saved",
+    "updated_at_unix": 1789911333.5071537
+  },
+  "prometheus_camera_left_wrist_0_recorder": {
+    "camera_frames": {
+      "left_wrist_0_rgb": 424
+    },
+    "camera_timestamp_samples": 424,
+    "complete_sensor_bundles": 424,
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "failure": "",
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "workflow": "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": 1789911333.5071537
+  },
+  "prometheus_camera_right_wrist_0_recorder": {
+    "camera_frames": {
+      "right_wrist_0_rgb": 425
+    },
+    "camera_timestamp_samples": 425,
+    "complete_sensor_bundles": 425,
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "failure": "",
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "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": 1789911333.5071537
+  }
+}
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c4049d5620943317739b5cd8e65e28c73e75c9d
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/event.json
@@ -0,0 +1,27 @@
+{
+  "prometheus_event_recorder": {
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "event_samples": 1,
+    "failure": "",
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_event_recorder",
+    "record_mode": "event",
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789911333.5071537
+  }
+}
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..864bd608da9b91b134282750a060bf8496e6cfd7
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/robot.json
@@ -0,0 +1,36 @@
+{
+  "prometheus_robot_recorder": {
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "failure": "",
+    "incomplete_robot_samples": {
+      "left": 1697,
+      "right": 1697
+    },
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "pending_robot_samples": 0,
+    "plot_outputs": [],
+    "record_id": "prometheus_robot_recorder",
+    "record_mode": "robot",
+    "robot_samples": {
+      "left": 1697,
+      "right": 1697
+    },
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789911333.5071537
+  }
+}
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/tactile.json
new file mode 100644
index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/tactile.json
@@ -0,0 +1 @@
+{}
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/config.yaml b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..88506801ed69309d3e20380c702b021fa7d3c851
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/config.yaml
@@ -0,0 +1,238 @@
+ros:
+  localhost_only: true
+run:
+  id: ${now:%Y%m%d_%H%M%S_%f}
+  output_dir: outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate
+  steps: 40
+  wait_ready_timeout_s: 30.0
+  runtime_dir: ${run.output_dir}/metadata/runtime
+  action_steps: 30
+policy:
+  host: 127.0.0.1
+  port: 8000
+  prompt: Use the right arm to pick up the pomegranate and place it in the bowl.
+  action_hz: 30.0
+  slop_ms: 20.0
+  observation_wait_timeout_s: 1.0
+  max_observation_age_s: 0.5
+  connect_timeout_s: 10.0
+  response_timeout_s: 120.0
+data:
+  history: 64
+  bridge:
+    enabled: true
+    name: openpi_observe_${run.id}
+    wait_all_streams: true
+    qos_depth: 10
+    stamp_source: header
+    sensor_qos: reliable
+  streams:
+    robot_state:
+      topic: /prometheus/robots/yam/state
+      msg_type: sensor_msgs.msg.JointState
+      domain: robot
+      ros_domain_id: 21
+    base_0_color:
+      topic: /prometheus/sensors/cameras/base_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+    left_wrist_0_color:
+      topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+    right_wrist_0_color:
+      topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+  name: openpi_data
+  mode: owned
+  numpy:
+    enabled: true
+  recording:
+    enabled: true
+    output_dir: ${run.output_dir}/data
+    queue_size: 4096
+    fps: 30.0
+    camera_encoder: libx264
+    default_event_value: null
+    enable_plots: false
+robot:
+  _target_: prometheus.nodes.robots.yam.resolve_robot
+  id: yam
+  control_domain_id: 21
+  sensor_domain_id: 22
+  collection_input_source: pedal,tty
+  collection_pedal:
+    devices:
+    - /dev/input/prometheus-pedal
+    - /dev/input/prometheus-pedal-aux
+    exclusive: true
+    confirm_presses: 2
+    confirm_window_s: 1.0
+    debounce_s: 0.05
+    pedal_map:
+      30: 0
+      48: 1
+      46: 2
+      32: 3
+      2: 0
+      3: 1
+      4: 2
+      5: 3
+  robot:
+    state_publish_hz: 120
+    control_hz: 120
+    action_space: abs_qpos
+    leader_arm: yam
+    follower_arm: yam_ultra
+    leader_gripper: yam_teaching_handle
+    follower_gripper: linear_4310
+    gripper_width_m: 0.096
+    alignment_duration_s: 3.0
+    bilateral_kp: 0.0
+    teleoperation_enabled: false
+    require_enable_button: false
+    enable_auto_recovery: false
+    sim: false
+    home_return:
+      enabled: false
+      max_velocity: 0.3
+      min_duration_s: 3.0
+      timeout_s: 25.0
+      kp_scale: 1.0
+      position_tolerance: 0.05
+      velocity_tolerance: 0.1
+      settle_s: 0.3
+      tracking_error_limit: 0.35
+      feedback_timeout_s: 0.5
+    leader_can: null
+    follower_can:
+      left: can_follower_l
+      right: can_follower_r
+    collection_mode: policy
+    policy_control:
+      urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf
+      stop_file: /tmp/prometheus_openpi/STOP
+      hz: 30.0
+      feedback_timeout_s: 0.2
+      command_timeout_s: 0.25
+      velocity_limits:
+      - 6.503956017494202
+      - 7.554651925563812
+      - 9.670842275619506
+      - 10.588351378440857
+      - 8.72373610496521
+      - 13.252087483406067
+      - 1.2993822544813156
+      - 8.664541969299316
+      - 10.73633671760559
+      - 14.77633719921112
+      - 17.380879168510436
+      - 20.799341225624083
+      - 7.747032866477967
+      - 1.3316887146234513
+      stationary_velocity_limits:
+      - 0.09619047798216343
+      - 0.09619047798216343
+      - 0.09125763334333897
+      - 0.09619047798216343
+      - 0.11098901189863682
+      - 0.18498168900609016
+      - 0.014679903751239181
+      - 0.10112332262098789
+      - 0.11098901189863682
+      - 0.10112332262098789
+      - 0.11098901189863682
+      - 0.14058608725667
+      - 0.2885714414715767
+      - 0.014345181323587895
+      command_velocity_limits:
+      - 7.326937734087213
+      - 7.492612143357643
+      - 9.039960411055707
+      - 10.989442599937178
+      - 11.822247140410347
+      - 21.729793477053846
+      - 4.549583926449072
+      - 9.542591565847905
+      - 16.49783855493206
+      - 19.18122166486826
+      - 20.271305218109156
+      - 13.274309575261345
+      - 14.009155302643812
+      - 4.764187300355128
+      acceleration_limits:
+      - 118.7426430016755
+      - 165.012131490699
+      - 134.04180689399348
+      - 274.86399842805685
+      - 195.25766555964873
+      - 454.5340796113012
+      - 109.40927818565227
+      - 178.49339036295515
+      - 476.6444930964641
+      - 557.9080874526715
+      - 587.1810202100611
+      - 362.1711802492357
+      - 208.8803265352197
+      - 208.9010343469399
+      tracking_error_limits:
+      - 0.20073625504970552
+      - 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/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c50ece7ff172e1cc532561fc29f46097061dbe30
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/hydra.yaml
@@ -0,0 +1,164 @@
+hydra:
+  run:
+    dir: ${run.output_dir}/metadata/hydra
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - execute=true
+    - policy.host=127.0.0.1
+    - policy.port=8000
+    - run.steps=40
+    - run.action_steps=30
+    - policy.prompt="Use the right arm to pick up the pomegranate and place it in
+      the bowl."
+    - run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate
+  job:
+    name: openpi_rollout
+    chdir: false
+    override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use
+      the right arm to pick up the pomegranate and place it in the bowl.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate,run.steps=40
+    id: ???
+    num: ???
+    config_name: openpi_pi0_v2_v3_20eps_20000
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.6
+    version_base: '1.3'
+    cwd: /home/romoya-1/openpi-workspace/PrometheusV2
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/metadata/hydra
+    choices:
+      robot: yam_policy
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..38d48c32428a47a91b779cbfce425d978fc063d0
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/overrides.yaml
@@ -0,0 +1,8 @@
+- execute=true
+- policy.host=127.0.0.1
+- policy.port=8000
+- run.steps=40
+- run.action_steps=30
+- policy.prompt="Use the right arm to pick up the pomegranate and place it in the
+  bowl."
+- run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/openpi_rollout.log
new file mode 100644
index 0000000000000000000000000000000000000000..0e1d7663618c429282191aa0514b2ae67035a71d
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/openpi_rollout.log
@@ -0,0 +1,822 @@
+[2026-09-20 19:22:34,523][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 19:22:34,524][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 19:22:34,524][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 19:22:34,524][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 19:22:34,525][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 19:22:34,525][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 19:22:34,525][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 19:22:34,525][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 19:22:34,525][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 19:22:34,526][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 19:22:34,526][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 19:22:34,526][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 19:22:34,526][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 19:22:34,526][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 19:22:34,526][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 19:22:34,526][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 19:22:34,526][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 19:22:34,526][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 19:22:34,526][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 19:22:34,526][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 19:22:34,526][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 19:22:34,526][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 19:22:34,526][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 19:22:34,526][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 19:22:34,526][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 19:22:34,527][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 19:22:34,527][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 19:22:34,527][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 19:22:34,527][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 19:22:34,527][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:22:34,528][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:22:34,540][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 19:22:34,550][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 19:22:34,561][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:22:34,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 19:22:34,583][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:34,595][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:22:34,606][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 19:22:34,617][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:34,627][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:22:34,639][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 19:22:34,650][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:34,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:22:34,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 19:22:34,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:34,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:22:34,706][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 19:22:34,717][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:34,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:22:34,739][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 19:22:34,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:34,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:22:34,761][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 19:22:34,761][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:22:34,761][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:22:34,816][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:22:34,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:22:34,923][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:22:34,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:22:35,030][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:22:35,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:22:35,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:22:35,137][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 19:22:35,137][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:22:35,137][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 19:22:35,148][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 19:22:35,153][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 19:22:35,159][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 19:22:35,165][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 19:22:35,171][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 19:22:35,177][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 19:22:35,183][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 19:22:35,189][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 19:22:35,189][root][INFO] - current_pos: [-0.03109025711451885, -0.000953688868543523, 0.0024795910582131597, 0.0001907377737087046, 0.0013351644159609322, -0.1577401388570987, 0.022316319523918438]
+[2026-09-20 19:22:35,189][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 19:22:35,189][root][INFO] - starting separate thread for control loop
+[2026-09-20 19:22:35,290][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=-0.03109025711451885, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789903355.2899632), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789903355.2899632), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789903355.2899632), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789903355.2899632), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789903355.2899632), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.1577401388570987, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903355.2899632), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903355.2899632)]
+[2026-09-20 19:22:35,290][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 19:22:35,290][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223
+[2026-09-20 19:22:35,290][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 19:22:35,916][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680
+[2026-09-20 19:22:36,216][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 19:22:36,844][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071
+[2026-09-20 19:22:37,144][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.007057297627218517)
+[2026-09-20 19:22:37,144][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.0070573 ]
+[2026-09-20 19:22:37,381][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 19:22:37,382][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 19:22:37,382][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 19:22:37,382][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 19:22:37,382][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 19:22:37,382][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 19:22:37,382][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 19:22:37,382][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 19:22:37,382][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 19:22:37,382][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 19:22:37,382][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 19:22:37,382][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 19:22:37,382][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 19:22:37,382][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:22:37,382][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:22:37,382][root][INFO] - initializing, ....
+[2026-09-20 19:22:37,393][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 19:22:37,404][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:37,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:22:37,426][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 19:22:37,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:37,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:22:37,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 19:22:37,469][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:37,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:22:37,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 19:22:37,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:37,513][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:22:37,524][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 19:22:37,535][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:37,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:22:37,556][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 19:22:37,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:37,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:22:37,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 19:22:37,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:22:37,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:22:37,610][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 19:22:37,610][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:22:37,610][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:22:37,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:22:37,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:22:37,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:22:37,825][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:22:37,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:22:37,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:22:37,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:22:37,986][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 19:22:37,987][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:22:37,987][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 19:22:37,997][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 19:22:38,003][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 19:22:38,009][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 19:22:38,015][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 19:22:38,020][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 19:22:38,027][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 19:22:38,033][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 19:22:38,039][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 19:22:38,039][root][INFO] - current_pos: [-0.02536812390325771, -0.0020981155107957505, 0.000953688868543523, 0.0005722133211261138, -0.023079270618753256, -0.04406042572671076, -0.000953688868543523]
+[2026-09-20 19:22:38,040][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 19:22:38,040][root][INFO] - starting separate thread for control loop
+[2026-09-20 19:22:38,140][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.025749599450678673, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789903358.1403298), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903358.1403298), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789903358.1403298), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789903358.1403298), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.023079270618753256, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789903358.1403298), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.04406042572671076, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903358.1403298), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789903358.1403298)]
+[2026-09-20 19:22:38,140][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 19:22:38,140][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010
+[2026-09-20 19:22:38,140][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 19:22:38,761][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 19:22:39,061][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 19:22:39,680][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-20 19:22:39,980][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.260738536659801, -0.011253528648813571)
+[2026-09-20 19:22:39,980][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26073854 -0.01125353]
+[2026-09-20 19:22:40,104][root][INFO] - initializing, ....
+[2026-09-20 19:22:47,388][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.11 Hz
+[2026-09-20 19:22:50,105][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.10 Hz
+[2026-09-20 19:22:56,082][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:22:56,083][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:22:57,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.65 Hz
+[2026-09-20 19:23:00,109][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.31 Hz
+[2026-09-20 19:23:05,191][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.95 iterations per second over 30.00 seconds.
+[2026-09-20 19:23:05,191][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003922 s, max step_time: 0.065123 s
+[2026-09-20 19:23:07,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.30 Hz
+[2026-09-20 19:23:08,042][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.95 iterations per second over 30.00 seconds.
+[2026-09-20 19:23:08,042][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003953 s, max step_time: 0.068888 s
+[2026-09-20 19:23:10,112][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.92 Hz
+[2026-09-20 19:23:17,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.63 Hz
+[2026-09-20 19:23:20,113][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.36 Hz
+[2026-09-20 19:23:25,409][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:23:25,409][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:23:27,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.42 Hz
+[2026-09-20 19:23:30,118][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.80 Hz
+[2026-09-20 19:23:35,193][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.15 iterations per second over 30.00 seconds.
+[2026-09-20 19:23:35,193][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003982 s, max step_time: 0.022407 s
+[2026-09-20 19:23:37,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.24 Hz
+[2026-09-20 19:23:38,044][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.05 iterations per second over 30.00 seconds.
+[2026-09-20 19:23:38,044][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003983 s, max step_time: 0.017515 s
+[2026-09-20 19:23:40,122][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.40 Hz
+[2026-09-20 19:23:47,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.72 Hz
+[2026-09-20 19:23:50,124][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.95 Hz
+[2026-09-20 19:23:50,718][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:23:50,718][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:23:57,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.09 Hz
+[2026-09-20 19:24:00,127][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.92 Hz
+[2026-09-20 19:24:05,194][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.99 iterations per second over 30.00 seconds.
+[2026-09-20 19:24:05,194][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003937 s, max step_time: 0.024984 s
+[2026-09-20 19:24:07,407][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.64 Hz
+[2026-09-20 19:24:08,047][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.07 iterations per second over 30.00 seconds.
+[2026-09-20 19:24:08,047][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003936 s, max step_time: 0.023219 s
+[2026-09-20 19:24:10,131][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.81 Hz
+[2026-09-20 19:24:17,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.85 Hz
+[2026-09-20 19:24:20,132][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.87 Hz
+[2026-09-20 19:24:27,410][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.78 Hz
+[2026-09-20 19:24:30,132][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.29 Hz
+[2026-09-20 19:24:35,195][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.33 iterations per second over 30.00 seconds.
+[2026-09-20 19:24:37,410][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.39 Hz
+[2026-09-20 19:24:38,051][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.10 iterations per second over 30.00 seconds.
+[2026-09-20 19:24:40,135][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.82 Hz
+[2026-09-20 19:24:44,354][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003869 s, max step_time: 0.007078 s
+[2026-09-20 19:24:45,186][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003854 s, max step_time: 0.007157 s
+[2026-09-20 19:24:47,412][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.54 Hz
+[2026-09-20 19:24:50,135][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.50 Hz
+[2026-09-20 19:24:57,416][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.72 Hz
+[2026-09-20 19:25:00,137][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.44 Hz
+[2026-09-20 19:25:05,197][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.45 iterations per second over 30.00 seconds.
+[2026-09-20 19:25:07,416][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.48 Hz
+[2026-09-20 19:25:08,052][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.45 iterations per second over 30.00 seconds.
+[2026-09-20 19:25:10,138][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.27 Hz
+[2026-09-20 19:25:15,188][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003864 s, max step_time: 0.007285 s
+[2026-09-20 19:25:17,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.46 Hz
+[2026-09-20 19:25:19,228][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003875 s, max step_time: 0.007054 s
+[2026-09-20 19:25:20,142][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.30 Hz
+[2026-09-20 19:25:27,419][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.16 Hz
+[2026-09-20 19:25:30,145][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.72 Hz
+[2026-09-20 19:25:35,199][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.18 iterations per second over 30.00 seconds.
+[2026-09-20 19:25:37,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.45 Hz
+[2026-09-20 19:25:38,055][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.98 iterations per second over 30.00 seconds.
+[2026-09-20 19:25:40,148][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.73 Hz
+[2026-09-20 19:25:45,192][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003880 s, max step_time: 0.007448 s
+[2026-09-20 19:25:47,425][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.13 Hz
+[2026-09-20 19:25:47,430][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.78 iterations per second over 9.38 seconds.
+[2026-09-20 19:25:47,438][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.23 iterations per second over 12.24 seconds.
+[2026-09-20 21:32:23,547][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 21:32:23,548][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 21:32:23,549][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 21:32:23,549][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 21:32:23,549][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 21:32:23,549][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 21:32:23,549][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 21:32:23,549][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 21:32:23,549][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 21:32:23,550][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 21:32:23,550][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 21:32:23,550][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 21:32:23,550][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 21:32:23,550][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 21:32:23,550][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 21:32:23,550][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:32:23,551][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:32:23,551][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:32:23,551][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 21:32:23,551][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:32:23,552][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:32:23,564][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:32:23,575][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 21:32:23,586][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:32:23,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:32:23,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:23,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:32:23,631][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:32:23,643][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:23,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:32:23,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:32:23,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:23,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:32:23,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:32:23,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:23,721][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:32:23,732][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:32:23,743][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:23,754][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:32:23,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:32:23,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:23,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:32:23,788][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s))
+[2026-09-20 21:32:23,788][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:32:23,788][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:32:23,844][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:32:23,900][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:32:23,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:32:24,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:32:24,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:32:24,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:32:24,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:32:24,170][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:32:24,170][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:32:24,170][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:32:24,181][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:32:24,186][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:32:24,193][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:32:24,199][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:32:24,205][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:32:24,211][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:32:24,217][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:32:24,223][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=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:32:24,223][root][INFO] - current_pos: [-0.010872053101396162, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, 0.04863813229571967, 0.02193484397650103]
+[2026-09-20 21:32:24,223][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:32:24,223][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:32:24,324][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=-0.010490577553982305, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789911144.3242238), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911144.3242238), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1789911144.3242238), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1789911144.3242238), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789911144.3242238), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911144.3242238), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.02193484397650103, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911144.3242238)]
+[2026-09-20 21:32:24,324][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:32:24,324][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0219
+[2026-09-20 21:32:24,324][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:32:25,005][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687
+[2026-09-20 21:32:25,305][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:32:25,933][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-20 21:32:26,233][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032)
+[2026-09-20 21:32:26,233][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877]
+[2026-09-20 21:32:26,468][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:32:26,468][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:32:26,469][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:32:26,469][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:32:26,469][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:32:26,469][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:32:26,469][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:32:26,469][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:32:26,469][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:32:26,469][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:32:26,469][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:32:26,469][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:32:26,469][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 21:32:26,469][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:32:26,469][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:32:26,471][root][INFO] - initializing, ....
+[2026-09-20 21:32:26,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:32:26,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:26,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:32:26,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:32:26,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:26,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:32:26,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:32:26,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:26,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:32:26,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:32:26,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:26,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:32:26,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:32:26,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:26,631][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:32:26,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:32:26,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:26,663][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:32:26,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:32:26,684][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:32:26,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:32:26,695][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 21:32:26,695][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:32:26,695][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:32:26,749][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:32:26,803][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:32:26,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:32:26,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:32:26,964][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:32:27,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:32:27,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:32:27,072][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:32:27,072][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:32:27,072][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:32:27,083][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:32:27,088][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:32:27,093][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:32:27,100][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:32:27,106][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:32:27,112][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:32:27,119][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:32:27,125][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=-0.03418803418803407, 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=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-20 21:32:27,125][root][INFO] - current_pos: [-0.03376058594644071, 0.0005722133211261138, 0.000953688868543523, 0.0036240177004653873, 0.028801403830014394, 0.09784847791256546, -0.000953688868543523]
+[2026-09-20 21:32:27,125][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:32:27,125][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:32:27,226][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.03376058594644071, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789911147.2261808), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789911147.2261808), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789911147.2261808), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0036240177004653873, voltage=-1, temp_mos=33.0, temp_rotor=31.0, timestamp=1789911147.2261808), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.028801403830014394, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789911147.2261808), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.09784847791256546, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789911147.2261808), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911147.2261808)]
+[2026-09-20 21:32:27,226][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:32:27,226][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010
+[2026-09-20 21:32:27,226][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:32:27,895][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 21:32:28,195][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:32:28,811][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-20 21:32:29,112][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.278286411841002, -0.011253528648817124)
+[2026-09-20 21:32:29,112][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27828641 -0.01125353]
+[2026-09-20 21:32:29,241][root][INFO] - initializing, ....
+[2026-09-20 21:32:36,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.02 Hz
+[2026-09-20 21:32:39,243][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.49 Hz
+[2026-09-20 21:32:40,752][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:32:40,752][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:32:46,477][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.53 Hz
+[2026-09-20 21:32:49,243][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.54 Hz
+[2026-09-20 21:32:54,225][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.49 iterations per second over 30.00 seconds.
+[2026-09-20 21:32:54,225][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003898 s, max step_time: 0.063731 s
+[2026-09-20 21:32:56,478][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.97 Hz
+[2026-09-20 21:32:57,129][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.97 iterations per second over 30.00 seconds.
+[2026-09-20 21:32:57,129][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003968 s, max step_time: 0.062077 s
+[2026-09-20 21:32:59,245][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.77 Hz
+[2026-09-20 21:33:06,481][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.23 Hz
+[2026-09-20 21:33:07,026][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:33:07,026][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:33:09,248][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.92 Hz
+[2026-09-20 21:33:16,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.33 Hz
+[2026-09-20 21:33:19,252][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.82 Hz
+[2026-09-20 21:33:24,225][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.13 iterations per second over 30.00 seconds.
+[2026-09-20 21:33:24,225][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004014 s, max step_time: 0.019209 s
+[2026-09-20 21:33:26,487][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.12 Hz
+[2026-09-20 21:33:27,132][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.98 iterations per second over 30.00 seconds.
+[2026-09-20 21:33:27,132][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004016 s, max step_time: 0.015467 s
+[2026-09-20 21:33:29,254][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.44 Hz
+[2026-09-20 21:33:36,488][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.49 Hz
+[2026-09-20 21:33:39,254][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.69 Hz
+[2026-09-20 21:33:41,486][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.56 iterations per second over 14.35 seconds.
+[2026-09-20 21:33:41,493][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 266.04 iterations per second over 17.27 seconds.
+[2026-09-20 21:33:48,462][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 21:33:48,463][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 21:33:48,464][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 21:33:48,464][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 21:33:48,464][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 21:33:48,464][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 21:33:48,464][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 21:33:48,464][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 21:33:48,464][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 21:33:48,465][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 21:33:48,465][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 21:33:48,465][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 21:33:48,465][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 21:33:48,465][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 21:33:48,465][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 21:33:48,465][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:33:48,466][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:33:48,466][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:33:48,466][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 21:33:48,466][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:33:48,467][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:33:48,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:33:48,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 21:33:48,501][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:33:48,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:33:48,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:48,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:33:48,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:33:48,556][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:48,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:33:48,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:33:48,589][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:48,600][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:33:48,611][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:33:48,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:48,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:33:48,643][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:33:48,654][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:48,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:33:48,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:33:48,686][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:48,697][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:33:48,697][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 21:33:48,697][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:33:48,697][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:33:48,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:33:48,806][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:33:48,860][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:33:48,914][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:33:48,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:33:49,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:33:49,075][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:33:49,075][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:33:49,075][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:33:49,075][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:33:49,086][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:33:49,091][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:33:49,097][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:33:49,103][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:33:49,109][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:33:49,115][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:33:49,121][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:33:49,127][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:33:49,127][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, 0.04863813229571967, -0.0001907377737087046]
+[2026-09-20 21:33:49,127][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:33:49,127][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:33:49,228][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789911229.2282956), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911229.2282956), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1789911229.2282956), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=37.0, timestamp=1789911229.2282956), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789911229.2282956), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911229.2282956), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.0005722133211296665, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911229.2282956)]
+[2026-09-20 21:33:49,228][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:33:49,228][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006
+[2026-09-20 21:33:49,228][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:33:49,855][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691
+[2026-09-20 21:33:50,156][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:33:50,779][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-20 21:33:51,079][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174643032)
+[2026-09-20 21:33:51,079][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131   -0.00743877]
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:33:51,318][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:33:51,318][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:33:51,318][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 21:33:51,318][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:33:51,318][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:33:51,319][root][INFO] - initializing, ....
+[2026-09-20 21:33:51,329][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:33:51,340][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:51,351][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:33:51,362][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:33:51,373][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:51,383][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:33:51,394][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:33:51,405][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:51,416][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:33:51,427][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:33:51,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:51,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:33:51,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:33:51,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:51,481][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:33:51,492][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:33:51,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:51,513][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:33:51,524][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:33:51,535][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:33:51,546][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:33:51,546][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 21:33:51,546][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:33:51,546][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:33:51,600][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:33:51,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:33:51,707][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:33:51,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:33:51,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:33:51,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:33:51,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:33:51,921][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:33:51,922][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:33:51,922][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:33:51,932][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:33:51,938][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:33:51,943][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:33:51,950][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:33:51,956][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:33:51,962][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:33:51,968][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:33:51,974][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=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:33:51,974][root][INFO] - current_pos: [0.09632257572289582, 0.0005722133211261138, 0.000953688868543523, 0.0036240177004653873, 0.02536812390325771, -0.028801403830014394, -0.000953688868543523]
+[2026-09-20 21:33:51,974][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:33:51,974][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:33:52,075][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=0.09594110017547841, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789911232.075407), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789911232.075407), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1789911232.075407), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.003242542153047978, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789911232.075407), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.02536812390325771, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789911232.075407), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.02918287937742825, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789911232.075407), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911232.075407)]
+[2026-09-20 21:33:52,075][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:33:52,075][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010
+[2026-09-20 21:33:52,075][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:33:52,700][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 21:33:53,000][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:33:53,624][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-20 21:33:53,924][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.254634927901122, -0.011253528648813571)
+[2026-09-20 21:33:53,924][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25463493 -0.01125353]
+[2026-09-20 21:33:54,050][root][INFO] - initializing, ....
+[2026-09-20 21:34:01,321][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.87 Hz
+[2026-09-20 21:34:04,056][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.94 Hz
+[2026-09-20 21:34:08,705][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:34:08,706][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:34:11,324][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.13 Hz
+[2026-09-20 21:34:14,057][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.45 Hz
+[2026-09-20 21:34:19,129][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.22 iterations per second over 30.00 seconds.
+[2026-09-20 21:34:19,129][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003902 s, max step_time: 0.069883 s
+[2026-09-20 21:34:21,325][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.09 Hz
+[2026-09-20 21:34:21,980][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.06 iterations per second over 30.01 seconds.
+[2026-09-20 21:34:21,980][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003967 s, max step_time: 0.063142 s
+[2026-09-20 21:34:24,059][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.21 Hz
+[2026-09-20 21:34:28,704][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:34:28,704][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:34:31,327][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.24 Hz
+[2026-09-20 21:34:34,063][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.03 Hz
+[2026-09-20 21:34:41,329][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.42 Hz
+[2026-09-20 21:34:44,067][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.63 Hz
+[2026-09-20 21:34:49,132][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.41 iterations per second over 30.00 seconds.
+[2026-09-20 21:34:49,132][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003978 s, max step_time: 0.023768 s
+[2026-09-20 21:34:51,331][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.27 Hz
+[2026-09-20 21:34:51,983][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.91 iterations per second over 30.00 seconds.
+[2026-09-20 21:34:51,983][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003970 s, max step_time: 0.021680 s
+[2026-09-20 21:34:54,070][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.56 Hz
+[2026-09-20 21:35:00,359][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:35:00,359][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:35:01,332][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.87 Hz
+[2026-09-20 21:35:04,070][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.54 Hz
+[2026-09-20 21:35:11,334][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.35 Hz
+[2026-09-20 21:35:14,073][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.62 Hz
+[2026-09-20 21:35:19,133][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.06 iterations per second over 30.00 seconds.
+[2026-09-20 21:35:19,133][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003921 s, max step_time: 0.028942 s
+[2026-09-20 21:35:21,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.64 Hz
+[2026-09-20 21:35:21,986][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.08 iterations per second over 30.00 seconds.
+[2026-09-20 21:35:21,986][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003936 s, max step_time: 0.032400 s
+[2026-09-20 21:35:24,076][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.58 Hz
+[2026-09-20 21:35:31,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.79 Hz
+[2026-09-20 21:35:33,393][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:35:33,393][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:35:34,077][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.23 Hz
+[2026-09-20 21:35:41,337][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.38 Hz
+[2026-09-20 21:35:44,082][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.77 Hz
+[2026-09-20 21:35:49,134][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.22 iterations per second over 30.00 seconds.
+[2026-09-20 21:35:49,146][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003966 s, max step_time: 0.017012 s
+[2026-09-20 21:35:51,338][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.08 Hz
+[2026-09-20 21:35:51,988][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.22 iterations per second over 30.00 seconds.
+[2026-09-20 21:35:51,988][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003981 s, max step_time: 0.016245 s
+[2026-09-20 21:35:54,083][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.20 Hz
+[2026-09-20 21:36:01,342][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.93 Hz
+[2026-09-20 21:36:02,173][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:36:02,173][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:36:04,086][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.80 Hz
+[2026-09-20 21:36:11,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.34 Hz
+[2026-09-20 21:36:14,089][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.04 Hz
+[2026-09-20 21:36:19,135][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.56 iterations per second over 30.00 seconds.
+[2026-09-20 21:36:19,150][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004021 s, max step_time: 0.019094 s
+[2026-09-20 21:36:21,346][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.14 Hz
+[2026-09-20 21:36:21,990][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.38 iterations per second over 30.00 seconds.
+[2026-09-20 21:36:21,990][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004026 s, max step_time: 0.016549 s
+[2026-09-20 21:36:24,094][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.30 Hz
+[2026-09-20 21:36:26,401][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:36:26,401][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:36:31,346][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.09 Hz
+[2026-09-20 21:36:34,094][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.36 Hz
+[2026-09-20 21:36:41,350][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.32 Hz
+[2026-09-20 21:36:44,098][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.51 Hz
+[2026-09-20 21:36:46,645][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:36:46,645][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:36:49,136][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.35 iterations per second over 30.00 seconds.
+[2026-09-20 21:36:49,153][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004011 s, max step_time: 0.022273 s
+[2026-09-20 21:36:51,352][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.36 Hz
+[2026-09-20 21:36:51,993][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.08 iterations per second over 30.00 seconds.
+[2026-09-20 21:36:51,993][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003983 s, max step_time: 0.019369 s
+[2026-09-20 21:36:54,101][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.56 Hz
+[2026-09-20 21:37:01,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.04 Hz
+[2026-09-20 21:37:04,104][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.52 Hz
+[2026-09-20 21:37:11,255][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:37:11,255][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:37:11,366][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.55 Hz
+[2026-09-20 21:37:14,106][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.44 Hz
+[2026-09-20 21:37:19,139][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.75 iterations per second over 30.00 seconds.
+[2026-09-20 21:37:19,154][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003910 s, max step_time: 0.010362 s
+[2026-09-20 21:37:21,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.09 Hz
+[2026-09-20 21:37:21,996][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.20 iterations per second over 30.00 seconds.
+[2026-09-20 21:37:21,996][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003918 s, max step_time: 0.014672 s
+[2026-09-20 21:37:24,107][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.96 Hz
+[2026-09-20 21:37:31,363][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.12 Hz
+[2026-09-20 21:37:33,353][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 265.05 iterations per second over 11.36 seconds.
+[2026-09-20 21:37:33,359][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 265.19 iterations per second over 14.22 seconds.
+[2026-09-20 21:37:37,770][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 21:37:37,771][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 21:37:37,771][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 21:37:37,771][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 21:37:37,771][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 21:37:37,771][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 21:37:37,771][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 21:37:37,771][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 21:37:37,772][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 21:37:37,772][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 21:37:37,772][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 21:37:37,772][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 21:37:37,772][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 21:37:37,772][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 21:37:37,772][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 21:37:37,772][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:37:37,773][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:37:37,773][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:37:37,773][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 21:37:37,773][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:37:37,774][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:37:37,786][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:37:37,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 21:37:37,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:37:37,819][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:37:37,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:37,841][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:37:37,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:37:37,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:37,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:37:37,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:37:37,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:37,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:37:37,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:37:37,929][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:37,940][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:37:37,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:37:37,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:37,972][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:37:37,983][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:37:37,994][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:38,005][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:37:38,005][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 21:37:38,005][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:37:38,005][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:37:38,060][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:37:38,114][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:37:38,168][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:37:38,222][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:37:38,277][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:37:38,330][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:37:38,384][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:37:38,384][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:37:38,384][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:37:38,385][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:37:38,395][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:37:38,401][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:37:38,407][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:37:38,413][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:37:38,419][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:37:38,425][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:37:38,431][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:37:38,437][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:37:38,437][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, 0.0013351644159609322, 0.04863813229571967, 0.019645990691996573]
+[2026-09-20 21:37:38,437][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:37:38,437][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:37:38,537][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789911458.537874), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911458.537874), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789911458.537874), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1789911458.537874), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789911458.537874), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911458.537874), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.019645990691996573, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911458.537874)]
+[2026-09-20 21:37:38,538][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:37:38,538][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0196
+[2026-09-20 21:37:38,538][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:37:39,218][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687
+[2026-09-20 21:37:39,519][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:37:40,138][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-20 21:37:40,438][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032)
+[2026-09-20 21:37:40,439][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877]
+[2026-09-20 21:37:40,680][root][INFO] - initializing, ....
+[2026-09-20 21:37:40,681][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:37:40,682][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:37:40,682][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:37:40,682][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:37:40,682][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:37:40,682][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:37:40,682][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:37:40,682][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:37:40,682][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:37:40,682][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:37:40,682][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:37:40,682][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:37:40,682][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 21:37:40,682][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:37:40,682][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:37:40,693][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:37:40,704][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:40,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:37:40,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:37:40,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:40,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:37:40,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:37:40,771][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:40,782][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:37:40,793][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:37:40,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:40,816][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:37:40,828][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:37:40,839][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:40,850][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:37:40,861][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:37:40,872][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:40,883][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:37:40,894][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:37:40,904][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:37:40,915][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:37:40,915][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 21:37:40,915][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:37:40,916][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:37:40,970][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:37:41,023][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:37:41,077][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:37:41,132][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:37:41,185][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:37:41,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:37:41,292][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:37:41,293][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:37:41,293][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:37:41,293][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:37:41,303][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:37:41,309][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:37:41,315][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:37:41,321][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:37:41,327][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:37:41,332][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:37:41,338][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:37:41,344][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=-0.03418803418803407, 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)]
+[2026-09-20 21:37:41,344][root][INFO] - current_pos: [-0.04520485236896299, -0.0020981155107957505, 0.000953688868543523, 0.0017166399633783413, 0.0024795910582131597, -0.04520485236896299, 0.010490577553978753]
+[2026-09-20 21:37:41,345][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:37:41,345][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:37:41,445][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.04520485236896299, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789911461.4453008), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789911461.4453008), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1789911461.4453008), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789911461.4453008), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789911461.4453008), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.04482337682154913, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789911461.4453008), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.010490577553978753, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911461.4453008)]
+[2026-09-20 21:37:41,445][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:37:41,445][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0105
+[2026-09-20 21:37:41,445][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:37:42,118][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 21:37:42,418][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:37:43,084][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-20 21:37:43,384][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.271801327534906, -0.011253528648817124)
+[2026-09-20 21:37:43,384][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27180133 -0.01125353]
+[2026-09-20 21:37:43,513][root][INFO] - initializing, ....
+[2026-09-20 21:37:50,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.57 Hz
+[2026-09-20 21:37:53,516][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.15 Hz
+[2026-09-20 21:37:55,957][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:37:55,957][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:38:00,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.27 Hz
+[2026-09-20 21:38:03,518][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.36 Hz
+[2026-09-20 21:38:08,441][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.47 iterations per second over 30.00 seconds.
+[2026-09-20 21:38:08,441][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003899 s, max step_time: 0.069120 s
+[2026-09-20 21:38:10,688][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.04 Hz
+[2026-09-20 21:38:11,348][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.07 iterations per second over 30.00 seconds.
+[2026-09-20 21:38:11,348][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003951 s, max step_time: 0.059269 s
+[2026-09-20 21:38:12,727][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 263.87 iterations per second over 1.38 seconds.
+[2026-09-20 21:38:12,735][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.02 iterations per second over 4.29 seconds.
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/runtime/output.lock b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/runtime/output.lock
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/action/executed_action_dict.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/action/executed_action_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0264f6a1de556e8334f1b0483924aa93b095e8e3
Binary files /dev/null and b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/action/executed_action_dict.pkl differ
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/camera/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0545add9cfaa43b89e855d78608fb7be79abac77
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/camera/metadata.json
@@ -0,0 +1,59 @@
+{
+  "base_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 522,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::base_0",
+    "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
+    "video": "camera/base_0_rgb.mp4",
+    "width": 640
+  },
+  "left_wrist_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 524,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::left_wrist_0",
+    "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
+    "video": "camera/left_wrist_0_rgb.mp4",
+    "width": 640
+  },
+  "right_wrist_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 525,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::right_wrist_0",
+    "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
+    "video": "camera/right_wrist_0_rgb.mp4",
+    "width": 640
+  }
+}
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/camera/timestamp.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/camera/timestamp.pkl
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index 0000000000000000000000000000000000000000..41eba94d860df9cb52a6674aa783bd4ceaa1b0e5
Binary files /dev/null and b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/camera/timestamp.pkl differ
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/debug/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f34f240f7bc2b0ac29c2a59d5b74fffcd53ac5b7
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/debug/actions.jsonl
@@ -0,0 +1,498 @@
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/debug/async_events.jsonl
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index 0000000000000000000000000000000000000000..9e0c5dbd800e4af4ac7f4bd5c463df4fe66b62ce
--- /dev/null
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/action.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/camera.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/camera.json
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index 0000000000000000000000000000000000000000..02b6d261fc291f7501525d9122b2ccea28df0314
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f93b534988adb1f1d5ce17e41f3224e9946fd0b
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/tactile.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d723a0e40e7298b633fce288e82098b65a88ee7a
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/event/event_dict.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/event/event_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0937cd40f8624f1df776ca4fab091ab33eb0f2bf
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/action.json
new file mode 100644
index 0000000000000000000000000000000000000000..61b45e94f882dd09376383bc7577b052f2a9935f
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/action.json
@@ -0,0 +1,29 @@
+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/camera.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..0074ff2e45e78ff79a31bb82cf57bdb18da85fb5
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/camera.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a582a63a0e4f781a73835d84e3125847294b57
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/event.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..3af5021b9bb5e699607e012dc78ca8d7e97cf24f
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/robot.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/tactile.json
new file mode 100644
index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/tactile.json
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+{}
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/workflow_manifest.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/workflow_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..279fa949660b3d72ccac5a4d85b629bb14a84939
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/workflow_manifest.json
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new file mode 100644
index 0000000000000000000000000000000000000000..6ff79b8f825e7f6aed5af292c90ea973f454eee6
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0006/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0006/manifests/event.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0006/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0006/manifests/tactile.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/action/executed_action_dict.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/action/executed_action_dict.pkl
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index 0000000000000000000000000000000000000000..cb31b58c47353f7bdd431f59031d01c0c3edbaec
Binary files /dev/null and b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/action/executed_action_dict.pkl differ
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/camera/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..41f03865b4319010d5bbc154cf8e590e6eec1daa
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/camera/metadata.json
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+    "timestamps": "camera/timestamp.pkl::right_wrist_0",
+    "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
+    "video": "camera/right_wrist_0_rgb.mp4",
+    "width": 640
+  }
+}
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/camera/timestamp.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/camera/timestamp.pkl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/manifests/event.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/manifests/tactile.json
new file mode 100644
index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/manifests/tactile.json
@@ -0,0 +1 @@
+{}
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/workflow_manifest.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/workflow_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e01352d16ea0356e125b5117824a81bd775195
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0008/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0009/workflow_manifest.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0009/workflow_manifest.json
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index 0000000000000000000000000000000000000000..254a42e1147418538a07fed446cb84009fc7d4ca
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/action/executed_action_dict.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/action/executed_action_dict.pkl
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index 0000000000000000000000000000000000000000..41d5b3aeaddab00774195d4f5f4c21e33d9d607c
Binary files /dev/null and b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/action/executed_action_dict.pkl differ
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/camera/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d47e181f6ee516d68a65118ba12600931e4ffe5c
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/camera/timestamp.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/camera/timestamp.pkl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/debug/async_events.jsonl
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index 0000000000000000000000000000000000000000..acb9e0330fb94314a6727ebecb574c9ca8576404
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/action.json
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index 0000000000000000000000000000000000000000..f8a9d4ab84efe1eb01994fcd491175f7b5bedb48
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/action.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/camera.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..b60f3070dd0a02e10eaf3b37904999dec71168f1
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/camera.json
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+}
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..341752ffbc9ec981cec12e12503c883203800a8d
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/event.json
@@ -0,0 +1,27 @@
+{
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+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
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+}
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..6018282351ac2a1b4938621ea92837a8039d51f4
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/robot.json
@@ -0,0 +1,36 @@
+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/tactile.json
new file mode 100644
index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/manifests/tactile.json
@@ -0,0 +1 @@
+{}
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/workflow_manifest.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/workflow_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e6d019544d55c02d67b54835abd5be32166fdeb
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0010/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b5bbc68a811aea9fb8f2f9fa023b9ef9b8d6490
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/event/event_dict.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/event/event_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..34b22e62893e1225bcf005f1825734b344f57102
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/action.json
new file mode 100644
index 0000000000000000000000000000000000000000..5966b438e8dd8661d4622100356e75390aee5066
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/action.json
@@ -0,0 +1,29 @@
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/camera.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b8ba2e99fdbb10a3bea42633c142c1d86cf2f0e
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/camera.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef56efe3e66ac8d954558d9db6d6fef4366957c8
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/event.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..cabedc31b32c5f270b04b0854dc699e086464e06
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/robot.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/manifests/tactile.json
new file mode 100644
index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
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+{}
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/workflow_manifest.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/workflow_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a695f4fd97aac56e57c86ee26d59f56240feb9b
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0011/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/camera/metadata.json
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index 0000000000000000000000000000000000000000..a5c64baab4340f82edcd63a75be367af692421be
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/camera/timestamp.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/camera/timestamp.pkl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..171be742d4fe90b78cee899594623e2491a3c8f2
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/debug/async_events.jsonl
@@ -0,0 +1,41 @@
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index 0000000000000000000000000000000000000000..18c474532688f15fc5b6f8642e1c6a28df59f5e9
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/action.json
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index 0000000000000000000000000000000000000000..89c6b23b29fd4f5da96129423de6d8762daabd6c
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/camera.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a7ca68f6cef0fd3a0878cb93ce6e5041d064229
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/camera.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/event.json
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index 0000000000000000000000000000000000000000..ce0ca80238a5942862fde667fc37724e55b25819
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/event.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..b56ea66f0287550de7c2ce930041542800e43190
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/robot.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/manifests/tactile.json
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index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
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new file mode 100644
index 0000000000000000000000000000000000000000..4b23109e6591d4d541211c1423845a3501fa9016
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0013/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/action/executed_action_dict.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/action/executed_action_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7242a01ab6b2053cd74b6a3256e56ee2c5088f8c
Binary files /dev/null and b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/action/executed_action_dict.pkl differ
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/camera/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..35b36bad1748a48115fe6fe13c0036e2281744b7
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/camera/timestamp.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/camera/timestamp.pkl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f39f71934425d873b525ddd34f8dca88c347739
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/debug/async_events.jsonl
@@ -0,0 +1,73 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..6d911b4e856efbca6620413b85df71f2ba09b372
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/manifests/action.json
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index 0000000000000000000000000000000000000000..c65c0d7f942b7cbc2eb1f6bba955a7db15f3bcbd
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/manifests/action.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/manifests/camera.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/manifests/camera.json
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index 0000000000000000000000000000000000000000..b2475c185c346e0d9250544642c745d348183ac0
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/manifests/event.json
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index 0000000000000000000000000000000000000000..13a23d700aa20ec0da90914d6c7f3eafc5b23ca7
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/manifests/event.json
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+{
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index 0000000000000000000000000000000000000000..7326898760241d716d2e869b53d6a90fb4b5b953
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/manifests/robot.json
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..24702af488f14a3c08a8c81cea21677f60607592
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0014/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a8a346200430c63105d9c4ae404bab5a1e5bdce
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/debug/async_events.jsonl
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new file mode 100644
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/manifests/action.json
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index 0000000000000000000000000000000000000000..c339aec109c0599b4cd5eb12d8e047d783d9c8de
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new file mode 100644
index 0000000000000000000000000000000000000000..3856568e2df26930e410fb2d0e50aa61f69fbdb6
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..be5eb2a7369dfec1d901164a32b66339a606ded3
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/manifests/event.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0015/manifests/robot.json
new file mode 100644
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b4f8d0d6d90bd9cbe004594e52e3aa94a75f529
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/event/event_dict.pkl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/event/event_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e9d52b40d9605b5db34ac7d2dbd41831855a1a33
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/action.json
new file mode 100644
index 0000000000000000000000000000000000000000..146d0f1f70cc75a9879dedcdda416b16cc702e2d
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/action.json
@@ -0,0 +1,28 @@
+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/camera.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..95dbba86c23194ea7ea64a3d64d7b69ab87ee4b0
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/camera.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff0ed837b2b6ac0e94c5e5437b17f7c7e9a2bb33
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/event.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/robot.json
new file mode 100644
index 0000000000000000000000000000000000000000..5124110be8fcffe902f6d43bf4d7b1f543f7f3d8
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/robot.json
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+{
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/manifests/tactile.json
new file mode 100644
index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
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new file mode 100644
index 0000000000000000000000000000000000000000..203e4f00cfe5ca526fea321e0a1aff238095ef52
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0016/workflow_manifest.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e91559423e3d8c43131e745433b3f20fa5b8532d
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/debug/async_events.jsonl
@@ -0,0 +1,51 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..14875880bc220c4a4c06aca9ea9cda21ef7db613
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/action.json
new file mode 100644
index 0000000000000000000000000000000000000000..50c559cdfae911a264d038cc4ebf46c9dabb1a57
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/action.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/camera.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..27e28939cb6a5041241c2a203bef222c105abdab
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/camera.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..775816daaffe1af705915d939f3eab0a3cc0faed
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/event.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/robot.json
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index 0000000000000000000000000000000000000000..b59327cb6bce019ab6174167eee6a4fac37149cc
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/robot.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0017/manifests/tactile.json
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index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93
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new file mode 100644
index 0000000000000000000000000000000000000000..c846918944f01c4ef598872f591babccec25a02d
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/camera/metadata.json
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c69f431aee8814c7e9d1e24dd6ad7529b1408145
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/debug/async_events.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/manifests/action.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/manifests/action.json
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index 0000000000000000000000000000000000000000..589bc1f110cb01815dbd755c70a2bf0de1a9aeb4
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0020/manifests/event.json
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index 0000000000000000000000000000000000000000..edb048b1265309168ffe8f67af950b186802cec7
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index 0000000000000000000000000000000000000000..4b8f25f8f9a2ecbfe52bb9bbda06155b103b33d5
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/camera/metadata.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/camera/metadata.json
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index 0000000000000000000000000000000000000000..7b8ec12c524a490cc4628f065b4996d5ba986aaf
--- /dev/null
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/debug/actions.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/debug/actions.jsonl
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/debug/async_events.jsonl b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/debug/async_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ada255420f43a5aae194ab78fc7b7aa8f0ac6b3a
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/debug/async_events.jsonl
@@ -0,0 +1,51 @@
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index 0000000000000000000000000000000000000000..64e76ead8b6709a4b6517f5a8413936384878f0d
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/manifests/camera.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/manifests/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..e47788927bbfb05bdd8f34d21e82b02a1434aa35
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/manifests/event.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/manifests/event.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8820065767c77b06bdc47f856ad577836b338a8
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+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/manifests/event.json
@@ -0,0 +1,27 @@
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diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/manifests/robot.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0021/manifests/robot.json
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new file mode 100644
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new file mode 100644
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+  "operator_command_file": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi/metadata/runtime/operator_command",
+  "operator_drag_verified": true,
+  "operator_result": "success",
+  "operator_stopped": true,
+  "policy_control_limits": {
+    "acceleration_limits": [
+      118.7426430016755,
+      165.012131490699,
+      134.04180689399348,
+      274.86399842805685,
+      195.25766555964873,
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+      476.6444930964641,
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+      587.1810202100611,
+      362.1711802492357,
+      208.8803265352197,
+      208.9010343469399
+    ],
+    "armed": false,
+    "command_guard_failure": null,
+    "command_velocity_limits": [
+      7.326937734087213,
+      7.492612143357643,
+      9.039960411055707,
+      10.989442599937178,
+      11.822247140410347,
+      21.729793477053846,
+      4.549583926449072,
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+      16.49783855493206,
+      19.18122166486826,
+      20.271305218109156,
+      13.274309575261345,
+      14.009155302643812,
+      4.764187300355128
+    ],
+    "dragging": false,
+    "fault": null,
+    "holding": false,
+    "policy_finished": false,
+    "position_guard_failure": null,
+    "position_limit_source": "sdk",
+    "position_limits": [
+      [
+        -2.7679899999999997,
+        3.29159
+      ],
+      [
+        -0.15,
+        3.81519
+      ],
+      [
+        -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,
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+      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": [
+      6.503956017494202,
+      7.554651925563812,
+      9.670842275619506,
+      10.588351378440857,
+      8.72373610496521,
+      13.252087483406067,
+      1.2993822544813156,
+      8.664541969299316,
+      10.73633671760559,
+      14.77633719921112,
+      17.380879168510436,
+      20.799341225624083,
+      7.747032866477967,
+      1.3316887146234513
+    ]
+  },
+  "position_limit_source": "sdk",
+  "position_limits": [
+    [
+      -2.7679899999999997,
+      3.29159
+    ],
+    [
+      -0.15,
+      3.81519
+    ],
+    [
+      -0.15,
+      3.29159
+    ],
+    [
+      -1.84297,
+      1.7207999999999999
+    ],
+    [
+      -1.7207999999999999,
+      1.7207999999999999
+    ],
+    [
+      -2.2443999999999997,
+      2.2443999999999997
+    ],
+    [
+      0.0,
+      0.096
+    ],
+    [
+      -2.7679899999999997,
+      3.29159
+    ],
+    [
+      -0.15,
+      3.81519
+    ],
+    [
+      -0.15,
+      3.29159
+    ],
+    [
+      -1.84297,
+      1.7207999999999999
+    ],
+    [
+      -1.7207999999999999,
+      1.7207999999999999
+    ],
+    [
+      -2.2443999999999997,
+      2.2443999999999997
+    ],
+    [
+      0.0,
+      0.096
+    ]
+  ],
+  "recording": {
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi/data/round_0021",
+    "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": 408,
+      "camera.base_0_rgb": 431,
+      "camera.left_wrist_0_rgb": 431,
+      "camera.right_wrist_0_rgb": 431,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3425,
+      "robot.robot_state": 1723
+    },
+    "recording": false,
+    "recording_enabled": true
+  },
+  "reviewed_at_ns": 1789912651209216230,
+  "round_number": 21,
+  "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",
+  "task_success": true,
+  "termination_reason": "operator_review",
+  "tracking_error_limits": [
+    0.20073625504970552,
+    0.309388148188591,
+    0.29782940477132797,
+    0.22655070275068284,
+    0.5001068050414323,
+    0.7771305423974991,
+    0.06952205713838339,
+    0.268162048868835,
+    0.3556229412555695,
+    0.4542571985721588,
+    0.3109293460845947,
+    1.0653276860713958,
+    0.45733958966098726,
+    0.07211417473852634
+  ],
+  "velocity_limits": [
+    6.503956017494202,
+    7.554651925563812,
+    9.670842275619506,
+    10.588351378440857,
+    8.72373610496521,
+    13.252087483406067,
+    1.2993822544813156,
+    8.664541969299316,
+    10.73633671760559,
+    14.77633719921112,
+    17.380879168510436,
+    20.799341225624083,
+    7.747032866477967,
+    1.3316887146234513
+  ]
+}
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/.hydra/config.yaml b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4149927fa750518688bed9cfbc86523ed96e95c3
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/.hydra/config.yaml
@@ -0,0 +1,239 @@
+ros:
+  localhost_only: true
+run:
+  id: ${now:%Y%m%d_%H%M%S_%f}
+  output_dir: outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi
+  steps: 40
+  wait_ready_timeout_s: 30.0
+  runtime_dir: ${run.output_dir}/metadata/runtime
+  action_steps: 30
+policy:
+  host: 127.0.0.1
+  port: 8000
+  prompt: Use the right arm to pick up the steamed bun and place it in the air fryer
+    basket.
+  action_hz: 30.0
+  slop_ms: 20.0
+  observation_wait_timeout_s: 1.0
+  max_observation_age_s: 0.5
+  connect_timeout_s: 10.0
+  response_timeout_s: 120.0
+data:
+  history: 64
+  bridge:
+    enabled: true
+    name: openpi_observe_${run.id}
+    wait_all_streams: true
+    qos_depth: 10
+    stamp_source: header
+    sensor_qos: reliable
+  streams:
+    robot_state:
+      topic: /prometheus/robots/yam/state
+      msg_type: sensor_msgs.msg.JointState
+      domain: robot
+      ros_domain_id: 21
+    base_0_color:
+      topic: /prometheus/sensors/cameras/base_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+    left_wrist_0_color:
+      topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+    right_wrist_0_color:
+      topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+  name: openpi_data
+  mode: owned
+  numpy:
+    enabled: true
+  recording:
+    enabled: true
+    output_dir: ${run.output_dir}/data
+    queue_size: 4096
+    fps: 30.0
+    camera_encoder: libx264
+    default_event_value: null
+    enable_plots: false
+robot:
+  _target_: prometheus.nodes.robots.yam.resolve_robot
+  id: yam
+  control_domain_id: 21
+  sensor_domain_id: 22
+  collection_input_source: pedal,tty
+  collection_pedal:
+    devices:
+    - /dev/input/prometheus-pedal
+    - /dev/input/prometheus-pedal-aux
+    exclusive: true
+    confirm_presses: 2
+    confirm_window_s: 1.0
+    debounce_s: 0.05
+    pedal_map:
+      30: 0
+      48: 1
+      46: 2
+      32: 3
+      2: 0
+      3: 1
+      4: 2
+      5: 3
+  robot:
+    state_publish_hz: 120
+    control_hz: 120
+    action_space: abs_qpos
+    leader_arm: yam
+    follower_arm: yam_ultra
+    leader_gripper: yam_teaching_handle
+    follower_gripper: linear_4310
+    gripper_width_m: 0.096
+    alignment_duration_s: 3.0
+    bilateral_kp: 0.0
+    teleoperation_enabled: false
+    require_enable_button: false
+    enable_auto_recovery: false
+    sim: false
+    home_return:
+      enabled: false
+      max_velocity: 0.3
+      min_duration_s: 3.0
+      timeout_s: 25.0
+      kp_scale: 1.0
+      position_tolerance: 0.05
+      velocity_tolerance: 0.1
+      settle_s: 0.3
+      tracking_error_limit: 0.35
+      feedback_timeout_s: 0.5
+    leader_can: null
+    follower_can:
+      left: can_follower_l
+      right: can_follower_r
+    collection_mode: policy
+    policy_control:
+      urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf
+      stop_file: /tmp/prometheus_openpi/STOP
+      hz: 30.0
+      feedback_timeout_s: 0.2
+      command_timeout_s: 0.25
+      velocity_limits:
+      - 6.503956017494202
+      - 7.554651925563812
+      - 9.670842275619506
+      - 10.588351378440857
+      - 8.72373610496521
+      - 13.252087483406067
+      - 1.2993822544813156
+      - 8.664541969299316
+      - 10.73633671760559
+      - 14.77633719921112
+      - 17.380879168510436
+      - 20.799341225624083
+      - 7.747032866477967
+      - 1.3316887146234513
+      stationary_velocity_limits:
+      - 0.09619047798216343
+      - 0.09619047798216343
+      - 0.09125763334333897
+      - 0.09619047798216343
+      - 0.11098901189863682
+      - 0.18498168900609016
+      - 0.014679903751239181
+      - 0.10112332262098789
+      - 0.11098901189863682
+      - 0.10112332262098789
+      - 0.11098901189863682
+      - 0.14058608725667
+      - 0.2885714414715767
+      - 0.014345181323587895
+      command_velocity_limits:
+      - 7.326937734087213
+      - 7.492612143357643
+      - 9.039960411055707
+      - 10.989442599937178
+      - 11.822247140410347
+      - 21.729793477053846
+      - 4.549583926449072
+      - 9.542591565847905
+      - 16.49783855493206
+      - 19.18122166486826
+      - 20.271305218109156
+      - 13.274309575261345
+      - 14.009155302643812
+      - 4.764187300355128
+      acceleration_limits:
+      - 118.7426430016755
+      - 165.012131490699
+      - 134.04180689399348
+      - 274.86399842805685
+      - 195.25766555964873
+      - 454.5340796113012
+      - 109.40927818565227
+      - 178.49339036295515
+      - 476.6444930964641
+      - 557.9080874526715
+      - 587.1810202100611
+      - 362.1711802492357
+      - 208.8803265352197
+      - 208.9010343469399
+      tracking_error_limits:
+      - 0.20073625504970552
+      - 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/V3/pi0_20eps_20000/put_baozi/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bd890a8087a4f1b07d1d3357b9a78b7388997181
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/.hydra/hydra.yaml
@@ -0,0 +1,164 @@
+hydra:
+  run:
+    dir: ${run.output_dir}/metadata/hydra
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - execute=true
+    - policy.host=127.0.0.1
+    - policy.port=8000
+    - run.steps=40
+    - run.action_steps=30
+    - policy.prompt="Use the right arm to pick up the steamed bun and place it in
+      the air fryer basket."
+    - run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi
+  job:
+    name: openpi_rollout
+    chdir: false
+    override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use
+      the right arm to pick up the steamed bun and place it in the air fryer basket.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi,run.steps=40
+    id: ???
+    num: ???
+    config_name: openpi_pi0_v2_v3_20eps_20000
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.6
+    version_base: '1.3'
+    cwd: /home/romoya-1/openpi-workspace/PrometheusV2
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi/metadata/hydra
+    choices:
+      robot: yam_policy
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3b62a40c314f3b5eaecbc5a26cd49a853584044d
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/.hydra/overrides.yaml
@@ -0,0 +1,8 @@
+- execute=true
+- policy.host=127.0.0.1
+- policy.port=8000
+- run.steps=40
+- run.action_steps=30
+- policy.prompt="Use the right arm to pick up the steamed bun and place it in the
+  air fryer basket."
+- run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/openpi_rollout.log
new file mode 100644
index 0000000000000000000000000000000000000000..999e5f459527f747e34a14ce0cdf12f7923efac2
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/hydra/openpi_rollout.log
@@ -0,0 +1,1681 @@
+[2026-09-20 19:06:15,075][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 19:06:15,077][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 19:06:15,077][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 19:06:15,077][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 19:06:15,077][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 19:06:15,077][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 19:06:15,077][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 19:06:15,077][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 19:06:15,078][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 19:06:15,078][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 19:06:15,078][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 19:06:15,078][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 19:06:15,078][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 19:06:15,078][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 19:06:15,078][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 19:06:15,078][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 19:06:15,079][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 19:06:15,080][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 19:06:15,080][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 19:06:15,080][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:06:15,081][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:06:15,093][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 19:06:15,104][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 19:06:15,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:06:15,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 19:06:15,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:15,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:06:15,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 19:06:15,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:15,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:06:15,192][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 19:06:15,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:15,213][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:06:15,224][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 19:06:15,235][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:15,245][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:06:15,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 19:06:15,267][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:15,278][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:06:15,288][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 19:06:15,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:15,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:06:15,310][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 19:06:15,310][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:06:15,310][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:06:15,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:06:15,417][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:06:15,472][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:06:15,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:06:15,579][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:06:15,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:06:15,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:06:15,687][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 19:06:15,688][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:06:15,688][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 19:06:15,698][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 19:06:15,704][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 19:06:15,710][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 19:06:15,716][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 19:06:15,722][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 19:06:15,727][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 19:06:15,734][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 19:06:15,740][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 19:06:15,740][root][INFO] - current_pos: [-0.03490501258869294, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, -0.0005722133211261138, -0.1539253833829246, 0.019645990691996573]
+[2026-09-20 19:06:15,740][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 19:06:15,740][root][INFO] - starting separate thread for control loop
+[2026-09-20 19:06:15,841][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.03490501258869294, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789902375.8412912), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789902375.8412912), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789902375.8412912), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902375.8412912), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902375.8412912), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.15430685893033846, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902375.8412912), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.019645990691996573, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902375.8412912)]
+[2026-09-20 19:06:15,841][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 19:06:15,841][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0196
+[2026-09-20 19:06:15,841][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 19:06:16,469][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680
+[2026-09-20 19:06:16,769][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 19:06:17,384][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071
+[2026-09-20 19:06:17,684][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.008201724269474298)
+[2026-09-20 19:06:17,684][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.00820172]
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 19:06:17,926][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 19:06:17,926][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 19:06:17,926][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 19:06:17,926][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:06:17,927][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:06:17,927][root][INFO] - initializing, ....
+[2026-09-20 19:06:17,938][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 19:06:17,949][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:17,960][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:06:17,971][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 19:06:17,983][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:17,993][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:06:18,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 19:06:18,016][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:18,027][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:06:18,038][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 19:06:18,049][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:18,060][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:06:18,070][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 19:06:18,081][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:18,092][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:06:18,103][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 19:06:18,113][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:18,124][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:06:18,135][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 19:06:18,146][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:06:18,157][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:06:18,157][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 19:06:18,157][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:06:18,157][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:06:18,211][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:06:18,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:06:18,318][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:06:18,372][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:06:18,425][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:06:18,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:06:18,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:06:18,532][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 19:06:18,533][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:06:18,533][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 19:06:18,543][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 19:06:18,548][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 19:06:18,554][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 19:06:18,560][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 19:06:18,566][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 19:06:18,572][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 19:06:18,578][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 19:06:18,585][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 19:06:18,585][root][INFO] - current_pos: [-0.03032730601968403, -0.0013351644159609322, 0.0005722133211261138, 0.007820248722056888, -0.09822995345998287, -0.10509651331349623, 0.014305333028152845]
+[2026-09-20 19:06:18,585][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 19:06:18,585][root][INFO] - starting separate thread for control loop
+[2026-09-20 19:06:18,686][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=-0.03032730601968403, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789902378.6861002), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789902378.6861002), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789902378.6861002), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.008201724269474298, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789902378.6861002), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.09822995345998287, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789902378.6861002), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.10509651331349623, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902378.6861002), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.014305333028152845, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902378.6861002)]
+[2026-09-20 19:06:18,686][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 19:06:18,686][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0143
+[2026-09-20 19:06:18,686][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 19:06:19,301][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 19:06:19,601][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 19:06:20,268][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109
+[2026-09-20 19:06:20,568][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.254634927901122, -0.010872053101396162)
+[2026-09-20 19:06:20,568][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25463493 -0.01087205]
+[2026-09-20 19:06:20,700][root][INFO] - initializing, ....
+[2026-09-20 19:06:27,930][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.39 Hz
+[2026-09-20 19:06:30,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.13 Hz
+[2026-09-20 19:06:37,929][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.50 Hz
+[2026-09-20 19:06:40,709][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.08 Hz
+[2026-09-20 19:06:45,741][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.50 iterations per second over 30.00 seconds.
+[2026-09-20 19:06:45,741][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003976 s, max step_time: 0.068818 s
+[2026-09-20 19:06:47,931][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.06 Hz
+[2026-09-20 19:06:48,588][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.18 iterations per second over 30.00 seconds.
+[2026-09-20 19:06:48,588][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003997 s, max step_time: 0.069699 s
+[2026-09-20 19:06:50,711][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.43 Hz
+[2026-09-20 19:06:57,935][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.81 Hz
+[2026-09-20 19:07:00,714][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.90 Hz
+[2026-09-20 19:07:07,935][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.67 Hz
+[2026-09-20 19:07:10,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.48 Hz
+[2026-09-20 19:07:15,741][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.20 iterations per second over 30.00 seconds.
+[2026-09-20 19:07:17,937][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.05 Hz
+[2026-09-20 19:07:18,588][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.47 iterations per second over 30.00 seconds.
+[2026-09-20 19:07:20,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.30 Hz
+[2026-09-20 19:07:27,938][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.86 Hz
+[2026-09-20 19:07:27,953][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.68 iterations per second over 9.37 seconds.
+[2026-09-20 19:07:27,961][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 268.99 iterations per second over 12.22 seconds.
+[2026-09-20 19:07:39,790][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 19:07:39,791][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 19:07:39,791][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 19:07:39,792][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 19:07:39,792][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 19:07:39,792][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 19:07:39,792][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 19:07:39,792][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 19:07:39,792][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 19:07:39,793][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 19:07:39,793][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 19:07:39,793][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 19:07:39,793][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 19:07:39,793][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 19:07:39,793][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 19:07:39,793][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 19:07:39,793][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 19:07:39,794][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 19:07:39,794][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 19:07:39,794][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 19:07:39,794][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 19:07:39,794][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 19:07:39,794][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 19:07:39,794][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 19:07:39,794][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 19:07:39,794][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 19:07:39,794][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 19:07:39,794][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 19:07:39,794][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 19:07:39,794][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:07:39,795][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:07:39,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 19:07:39,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 19:07:39,829][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:07:39,841][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 19:07:39,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:39,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:07:39,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 19:07:39,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:39,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:07:39,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 19:07:39,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:39,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:07:39,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 19:07:39,952][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:39,963][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:07:39,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 19:07:39,985][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:39,995][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:07:40,006][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 19:07:40,017][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:40,028][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:07:40,028][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 19:07:40,028][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:07:40,029][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:07:40,084][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:07:40,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:07:40,193][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:07:40,247][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:07:40,301][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:07:40,355][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:07:40,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:07:40,409][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 19:07:40,409][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:07:40,409][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 19:07:40,420][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 19:07:40,425][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 19:07:40,432][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 19:07:40,438][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 19:07:40,444][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 19:07:40,450][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 19:07:40,456][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 19:07:40,462][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=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 19:07:40,462][root][INFO] - current_pos: [-0.03490501258869294, -0.000953688868543523, 0.0024795910582131597, 0.0001907377737087046, 0.0013351644159609322, -0.1539253833829246, -0.0020981155107957505]
+[2026-09-20 19:07:40,462][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 19:07:40,462][root][INFO] - starting separate thread for control loop
+[2026-09-20 19:07:40,563][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=-0.03490501258869294, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789902460.5631802), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789902460.5631802), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789902460.5631802), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=31.0, timestamp=1789902460.5631802), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902460.5631802), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.1539253833829246, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902460.5631802), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902460.5631802)]
+[2026-09-20 19:07:40,563][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 19:07:40,563][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0021
+[2026-09-20 19:07:40,563][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 19:07:41,187][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676
+[2026-09-20 19:07:41,487][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 19:07:42,114][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071
+[2026-09-20 19:07:42,414][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.268368047608149, -0.00705729762722207)
+[2026-09-20 19:07:42,414][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26836805 -0.0070573 ]
+[2026-09-20 19:07:42,647][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 19:07:42,647][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 19:07:42,648][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 19:07:42,648][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 19:07:42,648][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 19:07:42,648][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 19:07:42,648][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 19:07:42,648][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 19:07:42,648][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 19:07:42,648][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 19:07:42,648][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 19:07:42,648][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 19:07:42,648][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 19:07:42,648][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:07:42,648][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:07:42,649][root][INFO] - initializing, ....
+[2026-09-20 19:07:42,659][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 19:07:42,670][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:42,681][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:07:42,692][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 19:07:42,703][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:42,714][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:07:42,724][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 19:07:42,735][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:42,746][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:07:42,757][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 19:07:42,768][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:42,779][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:07:42,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 19:07:42,800][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:42,811][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:07:42,822][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 19:07:42,833][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:42,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:07:42,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 19:07:42,865][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:07:42,876][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:07:42,876][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 19:07:42,876][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:07:42,876][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:07:42,929][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:07:42,983][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:07:43,036][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:07:43,090][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:07:43,144][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:07:43,197][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:07:43,251][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:07:43,251][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 19:07:43,251][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:07:43,251][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 19:07:43,262][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 19:07:43,267][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 19:07:43,273][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 19:07:43,279][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 19:07:43,285][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 19:07:43,291][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 19:07:43,297][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 19:07:43,303][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-20 19:07:43,303][root][INFO] - current_pos: [0.007438773174639479, 0.000953688868543523, 0.000953688868543523, 0.008964675364309116, -0.11692225528343592, -0.2916380560006111, 0.003242542153047978]
+[2026-09-20 19:07:43,303][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 19:07:43,303][root][INFO] - starting separate thread for control loop
+[2026-09-20 19:07:43,404][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.007438773174639479, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789902463.4039962), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902463.4039962), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789902463.4039962), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.008964675364309116, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789902463.4039962), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.11692225528343592, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789902463.4039962), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.2916380560006111, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902463.4039962), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.0036240177004653873, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902463.4039962)]
+[2026-09-20 19:07:43,404][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 19:07:43,404][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0036
+[2026-09-20 19:07:43,404][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 19:07:44,071][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 19:07:44,372][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 19:07:44,994][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109
+[2026-09-20 19:07:45,294][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.271419851987488, -0.011253528648817124)
+[2026-09-20 19:07:45,295][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27141985 -0.01125353]
+[2026-09-20 19:07:45,419][root][INFO] - initializing, ....
+[2026-09-20 19:07:52,653][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.65 Hz
+[2026-09-20 19:07:55,423][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.22 Hz
+[2026-09-20 19:08:02,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.13 Hz
+[2026-09-20 19:08:05,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.72 Hz
+[2026-09-20 19:08:08,840][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:08:08,840][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:08:10,466][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.21 iterations per second over 30.00 seconds.
+[2026-09-20 19:08:10,466][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.003980 s, max step_time: 0.069444 s
+[2026-09-20 19:08:10,622][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.52 iterations per second over 27.32 seconds.
+[2026-09-20 19:08:10,629][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.00 iterations per second over 0.16 seconds.
+[2026-09-20 19:09:14,704][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 19:09:14,705][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 19:09:14,705][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 19:09:14,705][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 19:09:14,705][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 19:09:14,705][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 19:09:14,705][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 19:09:14,705][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 19:09:14,706][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 19:09:14,707][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 19:09:14,707][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 19:09:14,707][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 19:09:14,707][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 19:09:14,707][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 19:09:14,707][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 19:09:14,707][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 19:09:14,707][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 19:09:14,707][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 19:09:14,707][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 19:09:14,707][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 19:09:14,707][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 19:09:14,708][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 19:09:14,708][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 19:09:14,708][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 19:09:14,708][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 19:09:14,708][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 19:09:14,708][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 19:09:14,708][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 19:09:14,708][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 19:09:14,708][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:09:14,709][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:09:14,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 19:09:14,731][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 19:09:14,742][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:09:14,753][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 19:09:14,764][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:14,776][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:09:14,787][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 19:09:14,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:14,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:09:14,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 19:09:14,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:14,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:09:14,853][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 19:09:14,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:14,876][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:09:14,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 19:09:14,898][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:14,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:09:14,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 19:09:14,931][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:14,942][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:09:14,942][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 19:09:14,942][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:09:14,942][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:09:14,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:09:15,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:09:15,107][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:09:15,161][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:09:15,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:09:15,269][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:09:15,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:09:15,324][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 19:09:15,324][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:09:15,324][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 19:09:15,335][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 19:09:15,341][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 19:09:15,347][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 19:09:15,352][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 19:09:15,359][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 19:09:15,365][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 19:09:15,371][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 19:09:15,377][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 19:09:15,377][root][INFO] - current_pos: [-0.03490501258869294, -0.0005722133211261138, 0.0024795910582131597, 0.0005722133211261138, 0.0013351644159609322, -0.1539253833829246, 0.019645990691996573]
+[2026-09-20 19:09:15,378][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 19:09:15,378][root][INFO] - starting separate thread for control loop
+[2026-09-20 19:09:15,478][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=-0.03490501258869294, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789902555.478467), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789902555.478467), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789902555.478467), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789902555.478467), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902555.478467), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.1539253833829246, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902555.478467), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.019645990691996573, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902555.478467)]
+[2026-09-20 19:09:15,478][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 19:09:15,478][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0196
+[2026-09-20 19:09:15,478][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 19:09:16,101][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680
+[2026-09-20 19:09:16,401][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 19:09:17,031][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071
+[2026-09-20 19:09:17,331][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.00705729762722207)
+[2026-09-20 19:09:17,332][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.0070573 ]
+[2026-09-20 19:09:17,582][root][INFO] - initializing, ....
+[2026-09-20 19:09:17,582][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 19:09:17,582][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 19:09:17,582][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 19:09:17,583][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 19:09:17,583][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 19:09:17,583][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 19:09:17,583][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 19:09:17,583][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 19:09:17,583][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 19:09:17,583][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 19:09:17,583][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 19:09:17,583][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 19:09:17,583][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 19:09:17,583][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:09:17,583][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:09:17,594][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 19:09:17,604][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:17,615][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:09:17,626][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 19:09:17,637][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:17,648][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:09:17,659][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 19:09:17,670][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:17,681][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:09:17,692][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 19:09:17,703][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:17,714][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:09:17,725][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 19:09:17,736][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:17,746][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:09:17,757][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 19:09:17,768][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:17,779][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:09:17,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 19:09:17,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:09:17,811][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:09:17,811][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 19:09:17,811][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:09:17,812][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:09:17,865][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:09:17,919][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:09:17,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:09:18,027][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:09:18,081][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:09:18,135][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:09:18,189][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:09:18,189][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 19:09:18,189][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:09:18,189][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 19:09:18,200][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 19:09:18,205][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 19:09:18,211][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 19:09:18,217][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 19:09:18,223][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 19:09:18,229][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 19:09:18,235][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 19:09:18,240][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-20 19:09:18,241][root][INFO] - current_pos: [0.00705729762722207, -0.0020981155107957505, 0.07267109178301645, -0.17223620965896025, -0.06923781185625977, -0.07343404287785127, 0.006675822079804661]
+[2026-09-20 19:09:18,241][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 19:09:18,241][root][INFO] - starting separate thread for control loop
+[2026-09-20 19:09:18,341][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.007438773174639479, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789902558.3413951), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902558.3413951), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.02051282051282044, pos=0.07267109178301645, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902558.3413951), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.1726176852063741, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789902558.3413951), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.0688563363088388, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789902558.3413951), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.07343404287785127, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902558.3413951), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.006294346532387252, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902558.3413951)]
+[2026-09-20 19:09:18,341][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 19:09:18,341][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063
+[2026-09-20 19:09:18,341][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 19:09:18,971][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 19:09:19,272][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 19:09:19,891][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109
+[2026-09-20 19:09:20,191][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2565423056382095, -0.010872053101396162)
+[2026-09-20 19:09:20,191][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25654231 -0.01087205]
+[2026-09-20 19:09:20,315][root][INFO] - initializing, ....
+[2026-09-20 19:09:27,587][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.03 Hz
+[2026-09-20 19:09:30,317][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.29 Hz
+[2026-09-20 19:09:37,589][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.34 Hz
+[2026-09-20 19:09:40,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.05 Hz
+[2026-09-20 19:09:41,458][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:09:41,458][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:09:45,382][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.03 iterations per second over 30.00 seconds.
+[2026-09-20 19:09:45,382][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.003983 s, max step_time: 0.067735 s
+[2026-09-20 19:09:45,605][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.14 iterations per second over 27.36 seconds.
+[2026-09-20 19:09:45,611][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 266.07 iterations per second over 0.23 seconds.
+[2026-09-20 19:10:19,309][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 19:10:19,310][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 19:10:19,310][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 19:10:19,310][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 19:10:19,310][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 19:10:19,311][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 19:10:19,311][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 19:10:19,311][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 19:10:19,311][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 19:10:19,312][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 19:10:19,312][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 19:10:19,312][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 19:10:19,312][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 19:10:19,312][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 19:10:19,312][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 19:10:19,312][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 19:10:19,312][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 19:10:19,312][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 19:10:19,313][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 19:10:19,313][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:10:19,314][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:10:19,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 19:10:19,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 19:10:19,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:10:19,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 19:10:19,370][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:19,381][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:10:19,392][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 19:10:19,403][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:19,414][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:10:19,426][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 19:10:19,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:19,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:10:19,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 19:10:19,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:19,481][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:10:19,492][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 19:10:19,503][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:19,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:10:19,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 19:10:19,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:19,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:10:19,548][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s))
+[2026-09-20 19:10:19,548][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:10:19,548][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:10:19,603][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:10:19,659][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:10:19,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:10:19,768][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:10:19,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:10:19,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:10:19,934][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:10:19,934][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 19:10:19,934][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:10:19,934][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 19:10:19,945][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 19:10:19,951][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 19:10:19,957][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 19:10:19,964][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 19:10:19,971][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 19:10:19,979][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 19:10:19,984][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 19:10:19,991][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 19:10:19,991][root][INFO] - current_pos: [-0.03490501258869294, -0.000953688868543523, 0.0024795910582131597, 0.0001907377737087046, 0.01201647974364839, -0.11692225528343592, 0.01583123521782248]
+[2026-09-20 19:10:19,992][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 19:10:19,992][root][INFO] - starting separate thread for control loop
+[2026-09-20 19:10:20,092][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=-0.03490501258869294, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789902620.0925028), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789902620.0925028), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789902620.0925028), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789902620.0925028), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.01201647974364839, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902620.0925028), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.11692225528343592, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902620.0925028), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902620.0925028)]
+[2026-09-20 19:10:20,092][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 19:10:20,092][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-20 19:10:20,093][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 19:10:20,778][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676
+[2026-09-20 19:10:21,078][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 19:10:21,709][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071
+[2026-09-20 19:10:22,009][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.007438773174643032)
+[2026-09-20 19:10:22,010][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051  -0.00743877]
+[2026-09-20 19:10:22,250][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 19:10:22,251][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 19:10:22,251][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 19:10:22,251][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 19:10:22,251][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 19:10:22,251][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 19:10:22,251][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 19:10:22,251][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 19:10:22,251][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 19:10:22,251][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 19:10:22,251][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 19:10:22,251][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 19:10:22,251][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 19:10:22,251][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:10:22,251][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:10:22,253][root][INFO] - initializing, ....
+[2026-09-20 19:10:22,262][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 19:10:22,273][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:22,285][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:10:22,295][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 19:10:22,306][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:22,317][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:10:22,328][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 19:10:22,338][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:22,349][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 19:10:22,360][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 19:10:22,371][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:22,381][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:10:22,392][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 19:10:22,403][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:22,414][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:10:22,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 19:10:22,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:22,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:10:22,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 19:10:22,468][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 19:10:22,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 19:10:22,479][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 19:10:22,479][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 19:10:22,480][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:10:22,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:10:22,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:10:22,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 19:10:22,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:10:22,749][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:10:22,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:10:22,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 19:10:22,856][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 19:10:22,856][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 19:10:22,856][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 19:10:22,867][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 19:10:22,872][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 19:10:22,878][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 19:10:22,884][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 19:10:22,889][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 19:10:22,896][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 19:10:22,902][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 19:10:22,908][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-20 19:10:22,908][root][INFO] - current_pos: [-0.0207904173342488, -0.0013351644159609322, 0.13065537499046265, -0.4167620355535213, -0.07610437170977313, -0.11501487754634887, -0.0001907377737087046]
+[2026-09-20 19:10:22,908][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 19:10:22,908][root][INFO] - starting separate thread for control loop
+[2026-09-20 19:10:23,009][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.0207904173342488, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789902623.0093997), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902623.0093997), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.006837606837606813, pos=0.13065537499046265, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902623.0093997), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.4167620355535213, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789902623.0093997), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.07610437170977313, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789902623.0093997), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.11539635309376273, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902623.0093997), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902623.0093997)]
+[2026-09-20 19:10:23,009][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 19:10:23,009][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0002
+[2026-09-20 19:10:23,009][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 19:10:23,684][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 19:10:23,984][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 19:10:24,609][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109
+[2026-09-20 19:10:24,909][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.274471656366828, -0.011253528648813571)
+[2026-09-20 19:10:24,909][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27447166 -0.01125353]
+[2026-09-20 19:10:25,032][root][INFO] - initializing, ....
+[2026-09-20 19:10:32,257][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.58 Hz
+[2026-09-20 19:10:35,041][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.61 Hz
+[2026-09-20 19:10:42,258][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.18 Hz
+[2026-09-20 19:10:43,450][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:10:43,451][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 19:10:45,040][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.97 Hz
+[2026-09-20 19:10:49,992][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.90 iterations per second over 30.00 seconds.
+[2026-09-20 19:10:49,993][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003923 s, max step_time: 0.060817 s
+[2026-09-20 19:10:52,261][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.44 Hz
+[2026-09-20 19:10:52,910][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.45 iterations per second over 30.00 seconds.
+[2026-09-20 19:10:52,911][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003976 s, max step_time: 0.068445 s
+[2026-09-20 19:10:55,039][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.10 Hz
+[2026-09-20 19:11:02,260][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.70 Hz
+[2026-09-20 19:11:05,041][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.08 Hz
+[2026-09-20 19:11:09,353][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.87 iterations per second over 16.44 seconds.
+[2026-09-20 19:11:09,360][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.69 iterations per second over 19.37 seconds.
+[2026-09-20 21:47:13,087][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 21:47:13,088][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 21:47:13,088][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 21:47:13,088][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 21:47:13,088][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 21:47:13,088][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 21:47:13,088][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 21:47:13,088][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 21:47:13,088][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 21:47:13,089][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 21:47:13,089][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 21:47:13,089][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 21:47:13,089][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 21:47:13,089][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 21:47:13,089][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 21:47:13,089][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:47:13,090][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:47:13,090][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:47:13,090][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 21:47:13,090][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:47:13,091][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:47:13,103][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:47:13,114][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 21:47:13,125][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:47:13,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:47:13,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:13,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:47:13,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:47:13,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:13,192][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:47:13,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:47:13,213][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:13,224][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:47:13,235][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:47:13,246][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:13,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:47:13,267][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:47:13,278][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:13,289][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:47:13,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:47:13,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:13,321][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:47:13,321][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 21:47:13,321][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:47:13,321][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:47:13,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:47:13,428][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:47:13,482][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:47:13,536][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:47:13,590][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:47:13,643][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:47:13,697][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:47:13,697][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:47:13,697][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:47:13,697][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:47:13,708][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:47:13,713][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:47:13,719][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:47:13,725][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:47:13,731][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:47:13,737][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:47:13,743][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:47:13,749][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:47:13,749][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.037575341420614805, 0.04863813229571967, 0.01583123521782248]
+[2026-09-20 21:47:13,749][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:47:13,750][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:47:13,850][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.02051282051282044, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789912033.850452), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912033.850452), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789912033.850452), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789912033.850452), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.037575341420614805, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789912033.850452), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912033.850452), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912033.850452)]
+[2026-09-20 21:47:13,850][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:47:13,850][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-20 21:47:13,850][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:47:14,477][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2695
+[2026-09-20 21:47:14,777][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:47:15,403][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-20 21:47:15,703][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007438773174643032)
+[2026-09-20 21:47:15,703][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.00743877]
+[2026-09-20 21:47:15,939][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:47:15,939][root][INFO] - initializing, ....
+[2026-09-20 21:47:15,940][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:47:15,940][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:47:15,940][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:47:15,940][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:47:15,940][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:47:15,940][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:47:15,940][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:47:15,940][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:47:15,940][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:47:15,940][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:47:15,940][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:47:15,940][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 21:47:15,940][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:47:15,941][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:47:15,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:47:15,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:15,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:47:15,984][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:47:15,995][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:16,005][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:47:16,016][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:47:16,027][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:16,038][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:47:16,048][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:47:16,059][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:16,070][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:47:16,081][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:47:16,091][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:16,102][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:47:16,113][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:47:16,124][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:16,135][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:47:16,146][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:47:16,157][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:47:16,168][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:47:16,168][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 21:47:16,168][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:47:16,168][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:47:16,222][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:47:16,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:47:16,329][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:47:16,384][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:47:16,438][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:47:16,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:47:16,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:47:16,545][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:47:16,545][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:47:16,545][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:47:16,556][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:47:16,561][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:47:16,569][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:47:16,575][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:47:16,581][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:47:16,587][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:47:16,593][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:47:16,599][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=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:47:16,599][root][INFO] - current_pos: [-0.02155336842908362, -0.0020981155107957505, 0.000953688868543523, -0.002861066605630569, -0.022697795071335847, -0.05893797207598972, 0.010490577553978753]
+[2026-09-20 21:47:16,599][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:47:16,599][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:47:16,700][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.02155336842908362, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789912036.6999414), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789912036.6999414), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789912036.6999414), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.002861066605630569, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789912036.6999414), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=-0.022697795071335847, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789912036.6999414), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.05893797207598972, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789912036.6999414), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.010872053101396162, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912036.6999414)]
+[2026-09-20 21:47:16,700][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:47:16,700][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0109
+[2026-09-20 21:47:16,700][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:47:17,371][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 21:47:17,671][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:47:18,299][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-20 21:47:18,599][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.277523460746167, -0.011253528648813571)
+[2026-09-20 21:47:18,599][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27752346 -0.01125353]
+[2026-09-20 21:47:18,734][root][INFO] - initializing, ....
+[2026-09-20 21:47:25,946][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.20 Hz
+[2026-09-20 21:47:28,739][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.05 Hz
+[2026-09-20 21:47:35,492][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:47:35,492][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:47:35,947][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
+[2026-09-20 21:47:38,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.62 Hz
+[2026-09-20 21:47:43,751][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.69 iterations per second over 30.00 seconds.
+[2026-09-20 21:47:43,751][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003973 s, max step_time: 0.068750 s
+[2026-09-20 21:47:45,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.94 Hz
+[2026-09-20 21:47:46,604][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.96 iterations per second over 30.00 seconds.
+[2026-09-20 21:47:46,604][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.004032 s, max step_time: 0.076024 s
+[2026-09-20 21:47:48,742][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.79 Hz
+[2026-09-20 21:47:55,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.39 Hz
+[2026-09-20 21:47:58,746][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.45 Hz
+[2026-09-20 21:47:58,989][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:47:58,990][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:48:05,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.88 Hz
+[2026-09-20 21:48:08,745][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.49 Hz
+[2026-09-20 21:48:13,754][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.01 iterations per second over 30.00 seconds.
+[2026-09-20 21:48:13,754][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004016 s, max step_time: 0.025204 s
+[2026-09-20 21:48:15,954][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.31 Hz
+[2026-09-20 21:48:16,604][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.20 iterations per second over 30.00 seconds.
+[2026-09-20 21:48:16,604][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004029 s, max step_time: 0.023521 s
+[2026-09-20 21:48:18,746][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.68 Hz
+[2026-09-20 21:48:25,955][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
+[2026-09-20 21:48:28,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.85 Hz
+[2026-09-20 21:48:32,623][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:48:32,623][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:48:35,956][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.08 Hz
+[2026-09-20 21:48:38,750][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.27 Hz
+[2026-09-20 21:48:43,757][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.28 iterations per second over 30.00 seconds.
+[2026-09-20 21:48:43,757][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003996 s, max step_time: 0.030067 s
+[2026-09-20 21:48:45,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.83 Hz
+[2026-09-20 21:48:46,605][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.56 iterations per second over 30.00 seconds.
+[2026-09-20 21:48:46,605][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003991 s, max step_time: 0.021614 s
+[2026-09-20 21:48:48,753][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.12 Hz
+[2026-09-20 21:48:55,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.47 Hz
+[2026-09-20 21:48:58,754][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.78 Hz
+[2026-09-20 21:49:02,078][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:49:02,078][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:49:05,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.44 Hz
+[2026-09-20 21:49:08,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.63 Hz
+[2026-09-20 21:49:13,760][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.44 iterations per second over 30.00 seconds.
+[2026-09-20 21:49:13,760][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004009 s, max step_time: 0.021188 s
+[2026-09-20 21:49:15,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.32 Hz
+[2026-09-20 21:49:16,606][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.62 iterations per second over 30.00 seconds.
+[2026-09-20 21:49:16,606][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004022 s, max step_time: 0.024976 s
+[2026-09-20 21:49:18,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.75 Hz
+[2026-09-20 21:49:23,499][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:49:23,499][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:49:25,968][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.77 Hz
+[2026-09-20 21:49:28,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.19 Hz
+[2026-09-20 21:49:35,971][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.22 Hz
+[2026-09-20 21:49:38,762][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.81 Hz
+[2026-09-20 21:49:43,762][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.48 iterations per second over 30.00 seconds.
+[2026-09-20 21:49:43,762][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003930 s, max step_time: 0.023189 s
+[2026-09-20 21:49:45,972][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.58 Hz
+[2026-09-20 21:49:46,610][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.30 iterations per second over 30.00 seconds.
+[2026-09-20 21:49:46,610][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003917 s, max step_time: 0.024256 s
+[2026-09-20 21:49:48,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.37 Hz
+[2026-09-20 21:49:55,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.25 Hz
+[2026-09-20 21:49:58,766][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.72 Hz
+[2026-09-20 21:50:05,974][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.79 Hz
+[2026-09-20 21:50:08,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.95 Hz
+[2026-09-20 21:50:13,765][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.00 iterations per second over 30.00 seconds.
+[2026-09-20 21:50:13,765][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003922 s, max step_time: 0.011627 s
+[2026-09-20 21:50:14,980][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.81 iterations per second over 28.37 seconds.
+[2026-09-20 21:50:14,987][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 273.43 iterations per second over 1.22 seconds.
+[2026-09-20 21:50:16,971][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 21:50:16,972][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 21:50:16,972][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 21:50:16,972][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 21:50:16,972][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 21:50:16,973][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 21:50:16,973][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 21:50:16,973][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 21:50:16,973][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 21:50:16,974][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 21:50:16,974][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 21:50:16,974][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 21:50:16,974][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 21:50:16,974][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 21:50:16,974][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 21:50:16,974][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 21:50:16,974][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:50:16,974][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:50:16,974][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:50:16,974][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:50:16,974][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:50:16,974][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:50:16,974][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:50:16,974][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:50:16,974][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:50:16,975][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:50:16,975][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:50:16,975][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:50:16,975][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 21:50:16,975][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:50:16,976][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:16,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:16,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 21:50:17,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:17,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:17,030][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:17,041][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:17,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:17,063][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:17,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:17,085][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:17,096][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:17,107][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:17,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:17,128][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:17,139][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:17,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:17,161][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:17,171][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:17,182][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:17,193][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:17,203][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:17,204][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 21:50:17,204][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:50:17,204][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:17,257][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:17,311][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:17,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:17,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:17,473][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:17,526][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:17,580][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:17,580][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:50:17,580][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:17,580][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:50:17,591][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:50:17,596][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:50:17,602][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:50:17,608][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:50:17,615][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:50:17,620][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:50:17,627][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:50:17,634][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:50:17,635][root][INFO] - current_pos: [-0.010109102006561344, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0005722133211261138, 0.04863813229571967, 0.01583123521782248]
+[2026-09-20 21:50:17,635][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:50:17,635][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:50:17,735][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.009727626459147487, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789912217.7354693), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912217.7354693), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789912217.7354693), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=40.0, timestamp=1789912217.7354693), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789912217.7354693), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912217.7354693), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912217.7354693)]
+[2026-09-20 21:50:17,735][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:50:17,735][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158
+[2026-09-20 21:50:17,735][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:50:18,415][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687
+[2026-09-20 21:50:18,716][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:50:19,346][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-20 21:50:19,646][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032)
+[2026-09-20 21:50:19,647][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877]
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:50:19,890][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:50:19,890][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:50:19,890][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 21:50:19,890][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:50:19,890][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:19,891][root][INFO] - initializing, ....
+[2026-09-20 21:50:19,901][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:19,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:19,923][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:19,933][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:19,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:19,955][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:19,966][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:19,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:19,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:19,999][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:20,011][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:20,022][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:20,033][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:20,044][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:20,055][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:20,066][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:20,076][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:20,087][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:20,098][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:20,108][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:20,119][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:20,119][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 21:50:20,119][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:50:20,120][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:20,174][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:20,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:20,281][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:20,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:20,388][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:20,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:20,496][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:20,496][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:50:20,497][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:20,497][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:50:20,507][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:50:20,512][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:50:20,519][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:50:20,525][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:50:20,530][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:50:20,537][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:50:20,542][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:50:20,548][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-20 21:50:20,549][root][INFO] - current_pos: [0.006294346532387252, -0.0001907377737087046, 0.000953688868543523, 0.0020981155107957505, -0.04596780346379781, -0.11882963302052296, -0.000953688868543523]
+[2026-09-20 21:50:20,549][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:50:20,549][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:50:20,649][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.02051282051282044, pos=0.006294346532387252, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789912220.6493478), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789912220.6493478), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1789912220.6493478), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0020981155107957505, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789912220.6493478), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.04596780346379781, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789912220.6493478), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.11882963302052296, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789912220.6493478), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789912220.6493478)]
+[2026-09-20 21:50:20,649][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:50:20,649][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010
+[2026-09-20 21:50:20,649][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:50:21,329][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 21:50:21,629][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:50:22,296][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-20 21:50:22,596][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270656900892654, -0.011253528648813571)
+[2026-09-20 21:50:22,596][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2706569  -0.01125353]
+[2026-09-20 21:50:22,725][root][INFO] - initializing, ....
+[2026-09-20 21:50:29,894][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.16 Hz
+[2026-09-20 21:50:32,731][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.41 Hz
+[2026-09-20 21:50:39,895][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.35 Hz
+[2026-09-20 21:50:42,734][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.51 Hz
+[2026-09-20 21:50:47,635][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.36 iterations per second over 30.00 seconds.
+[2026-09-20 21:50:47,635][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003885 s, max step_time: 0.070207 s
+[2026-09-20 21:50:49,899][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.71 Hz
+[2026-09-20 21:50:50,550][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.49 iterations per second over 30.00 seconds.
+[2026-09-20 21:50:50,550][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003914 s, max step_time: 0.070646 s
+[2026-09-20 21:50:52,735][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.78 Hz
+[2026-09-20 21:50:53,951][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.85 iterations per second over 3.40 seconds.
+[2026-09-20 21:50:53,957][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.00 iterations per second over 6.32 seconds.
+[2026-09-20 21:50:55,555][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 21:50:55,556][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 21:50:55,556][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 21:50:55,556][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 21:50:55,556][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 21:50:55,556][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 21:50:55,556][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 21:50:55,557][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 21:50:55,557][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 21:50:55,558][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 21:50:55,558][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 21:50:55,558][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 21:50:55,558][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 21:50:55,558][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 21:50:55,558][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 21:50:55,558][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:50:55,558][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:50:55,558][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:50:55,559][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 21:50:55,559][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:50:55,560][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:55,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:55,583][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 21:50:55,594][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:55,605][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:55,616][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:55,627][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:55,638][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:55,649][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:55,660][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:55,671][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:55,682][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:55,693][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:55,704][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:55,715][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:55,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:55,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:55,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:55,758][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:55,769][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:55,780][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:55,791][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:55,791][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 21:50:55,791][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:50:55,791][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:55,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:55,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:55,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:56,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:56,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:56,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:56,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:56,170][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:50:56,171][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:56,171][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:50:56,181][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:50:56,186][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:50:56,193][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:50:56,199][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:50:56,206][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:50:56,212][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:50:56,218][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:50:56,225][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:50:56,225][root][INFO] - current_pos: [0.023079270618753256, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0005722133211261138, 0.037575341420614805, 0.020027466239413982]
+[2026-09-20 21:50:56,225][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:50:56,225][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:50:56,325][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.023079270618753256, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789912256.3255372), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912256.3255372), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789912256.3255372), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=40.0, timestamp=1789912256.3255372), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789912256.3255372), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.037575341420614805, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912256.3255372), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.020027466239413982, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912256.3255372)]
+[2026-09-20 21:50:56,325][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:50:56,325][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0200
+[2026-09-20 21:50:56,325][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:50:56,953][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2684
+[2026-09-20 21:50:57,254][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:50:57,884][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-20 21:50:58,185][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.268368047608149, -0.007438773174639479)
+[2026-09-20 21:50:58,185][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26836805 -0.00743877]
+[2026-09-20 21:50:58,423][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:50:58,423][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:50:58,424][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:50:58,424][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:50:58,424][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:50:58,424][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:50:58,424][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:50:58,424][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:50:58,424][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:50:58,424][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:50:58,424][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:50:58,424][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:50:58,424][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 21:50:58,424][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:50:58,424][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:58,424][root][INFO] - initializing, ....
+[2026-09-20 21:50:58,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:58,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:58,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:58,468][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:58,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:58,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:58,501][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:50:58,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:58,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:50:58,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:58,546][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:58,557][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:58,568][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:58,579][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:58,590][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:58,601][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:58,612][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:58,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:58,634][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:50:58,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:50:58,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:50:58,655][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 21:50:58,655][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:50:58,655][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:58,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:58,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:58,816][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:50:58,870][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:58,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:58,977][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:59,032][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:50:59,032][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:50:59,032][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:50:59,032][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:50:59,043][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:50:59,048][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:50:59,054][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:50:59,060][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:50:59,066][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:50:59,072][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:50:59,078][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:50:59,084][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=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-20 21:50:59,084][root][INFO] - current_pos: [0.0913633936064695, -0.0001907377737087046, 0.0005722133211261138, 0.0017166399633783413, 0.002861066605630569, -0.04444190127412817, -0.000953688868543523]
+[2026-09-20 21:50:59,084][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:50:59,084][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:50:59,184][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.0913633936064695, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789912259.1849282), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789912259.1849282), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1789912259.1849282), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789912259.1849282), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.002861066605630569, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789912259.1849282), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.044060425726714314, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789912259.1849282), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789912259.1849282)]
+[2026-09-20 21:50:59,185][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:50:59,185][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010
+[2026-09-20 21:50:59,185][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:50:59,848][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 21:51:00,148][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:51:00,773][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-20 21:51:01,073][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.276760509651332, -0.011253528648813571)
+[2026-09-20 21:51:01,073][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27676051 -0.01125353]
+[2026-09-20 21:51:01,202][root][INFO] - initializing, ....
+[2026-09-20 21:51:05,225][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:51:05,225][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:51:08,430][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.69 Hz
+[2026-09-20 21:51:11,204][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.73 Hz
+[2026-09-20 21:51:18,434][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.00 Hz
+[2026-09-20 21:51:21,206][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.87 Hz
+[2026-09-20 21:51:26,227][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.65 iterations per second over 30.00 seconds.
+[2026-09-20 21:51:26,228][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003866 s, max step_time: 0.060511 s
+[2026-09-20 21:51:28,439][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.70 Hz
+[2026-09-20 21:51:29,087][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.24 iterations per second over 30.00 seconds.
+[2026-09-20 21:51:29,087][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003933 s, max step_time: 0.059383 s
+[2026-09-20 21:51:31,206][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.09 Hz
+[2026-09-20 21:51:38,439][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.07 Hz
+[2026-09-20 21:51:41,208][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.14 Hz
+[2026-09-20 21:51:48,441][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.44 Hz
+[2026-09-20 21:51:51,211][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.75 Hz
+[2026-09-20 21:51:56,231][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.07 iterations per second over 30.00 seconds.
+[2026-09-20 21:51:56,231][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003845 s, max step_time: 0.015021 s
+[2026-09-20 21:51:58,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 267.58 Hz
+[2026-09-20 21:51:59,089][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.92 iterations per second over 30.00 seconds.
+[2026-09-20 21:51:59,089][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003833 s, max step_time: 0.017211 s
+[2026-09-20 21:52:01,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.77 Hz
+[2026-09-20 21:52:08,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.79 Hz
+[2026-09-20 21:52:11,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.45 Hz
+[2026-09-20 21:52:18,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.09 Hz
+[2026-09-20 21:52:21,216][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.54 Hz
+[2026-09-20 21:52:26,234][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.54 iterations per second over 30.00 seconds.
+[2026-09-20 21:52:28,446][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.09 Hz
+[2026-09-20 21:52:29,091][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.01 iterations per second over 30.00 seconds.
+[2026-09-20 21:52:31,218][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.14 Hz
+[2026-09-20 21:52:36,436][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.47 iterations per second over 7.35 seconds.
+[2026-09-20 21:52:36,446][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.85 iterations per second over 10.21 seconds.
+[2026-09-20 21:52:39,658][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 21:52:39,660][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 21:52:39,660][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 21:52:39,660][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 21:52:39,660][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 21:52:39,660][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 21:52:39,660][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 21:52:39,660][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 21:52:39,660][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 21:52:39,661][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 21:52:39,661][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 21:52:39,661][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 21:52:39,661][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 21:52:39,661][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 21:52:39,661][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 21:52:39,661][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:52:39,662][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:52:39,662][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:52:39,662][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 21:52:39,662][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:52:39,663][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:52:39,674][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:52:39,686][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 21:52:39,696][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:52:39,707][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:52:39,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:39,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:52:39,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:52:39,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:39,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:52:39,775][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:52:39,786][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:39,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:52:39,808][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:52:39,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:39,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:52:39,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:52:39,853][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:39,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:52:39,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:52:39,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:39,897][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:52:39,897][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 21:52:39,897][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:52:39,897][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:52:39,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:52:40,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:52:40,059][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:52:40,113][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:52:40,166][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:52:40,220][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:52:40,274][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:52:40,274][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:52:40,274][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:52:40,274][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:52:40,285][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:52:40,290][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:52:40,296][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:52:40,302][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:52:40,308][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:52:40,314][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:52:40,320][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:52:40,326][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:52:40,326][root][INFO] - current_pos: [0.05283436331731117, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0005722133211261138, 0.03414206149385812, 0.022316319523918438]
+[2026-09-20 21:52:40,326][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:52:40,326][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:52:40,427][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.05283436331731117, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789912360.4273264), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912360.4273264), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789912360.4273264), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=40.0, timestamp=1789912360.4273264), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789912360.4273264), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.03414206149385812, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912360.4273264), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912360.4273264)]
+[2026-09-20 21:52:40,427][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:52:40,427][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223
+[2026-09-20 21:52:40,427][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:52:41,055][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691
+[2026-09-20 21:52:41,355][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:52:41,985][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-20 21:52:42,285][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174639479)
+[2026-09-20 21:52:42,285][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131   -0.00743877]
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:52:42,526][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:52:42,526][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:52:42,526][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 21:52:42,526][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:52:42,526][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:52:42,527][root][INFO] - initializing, ....
+[2026-09-20 21:52:42,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:52:42,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:42,559][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:52:42,570][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:52:42,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:42,591][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:52:42,602][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:52:42,613][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:42,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:52:42,634][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:52:42,645][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:42,656][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:52:42,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:52:42,677][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:42,688][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:52:42,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:52:42,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:42,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:52:42,731][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:52:42,742][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:52:42,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:52:42,752][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 21:52:42,752][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:52:42,753][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:52:42,808][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:52:42,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:52:42,917][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:52:42,971][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:52:43,024][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:52:43,078][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:52:43,132][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:52:43,132][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:52:43,132][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:52:43,132][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:52:43,143][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:52:43,148][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:52:43,154][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:52:43,160][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:52:43,166][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:52:43,172][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:52:43,178][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:52:43,184][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)]
+[2026-09-20 21:52:43,184][root][INFO] - current_pos: [-0.05359731441214599, 0.0005722133211261138, 0.000953688868543523, 0.0040054932478827965, -0.06733043411917272, -0.13408865491721933, -0.004386968795300206]
+[2026-09-20 21:52:43,184][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:52:43,184][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:52:43,285][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=-0.05359731441214599, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789912363.2850826), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789912363.2850826), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789912363.2850826), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0040054932478827965, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789912363.2850826), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.06733043411917272, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789912363.2850826), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.13408865491721933, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789912363.2850826), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.004386968795300206, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912363.2850826)]
+[2026-09-20 21:52:43,285][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:52:43,285][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044
+[2026-09-20 21:52:43,285][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:52:43,904][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 21:52:44,204][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:52:44,827][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-20 21:52:45,128][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.257305256733044, -0.01163500419623098)
+[2026-09-20 21:52:45,128][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25730526 -0.011635  ]
+[2026-09-20 21:52:45,267][root][INFO] - initializing, ....
+[2026-09-20 21:52:52,533][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.48 Hz
+[2026-09-20 21:52:55,274][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.23 Hz
+[2026-09-20 21:53:02,533][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.80 Hz
+[2026-09-20 21:53:05,276][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.24 Hz
+[2026-09-20 21:53:06,925][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:53:06,926][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:53:10,328][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.99 iterations per second over 30.00 seconds.
+[2026-09-20 21:53:10,328][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.003968 s, max step_time: 0.069165 s
+[2026-09-20 21:53:12,535][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.83 Hz
+[2026-09-20 21:53:13,188][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.07 iterations per second over 30.00 seconds.
+[2026-09-20 21:53:13,188][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.003998 s, max step_time: 0.065162 s
+[2026-09-20 21:53:15,279][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.45 Hz
+[2026-09-20 21:53:22,537][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.27 Hz
+[2026-09-20 21:53:25,280][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.70 Hz
+[2026-09-20 21:53:32,538][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.19 Hz
+[2026-09-20 21:53:35,280][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.84 Hz
+[2026-09-20 21:53:40,328][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.10 iterations per second over 30.00 seconds.
+[2026-09-20 21:53:40,329][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003967 s, max step_time: 0.008755 s
+[2026-09-20 21:53:42,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.57 Hz
+[2026-09-20 21:53:43,189][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.09 iterations per second over 30.00 seconds.
+[2026-09-20 21:53:43,189][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003998 s, max step_time: 0.008297 s
+[2026-09-20 21:53:43,286][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:53:43,287][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:53:45,281][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.38 Hz
+[2026-09-20 21:53:52,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.63 Hz
+[2026-09-20 21:53:55,283][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.65 Hz
+[2026-09-20 21:54:02,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.43 Hz
+[2026-09-20 21:54:05,286][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.03 Hz
+[2026-09-20 21:54:10,331][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.38 iterations per second over 30.00 seconds.
+[2026-09-20 21:54:10,331][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003855 s, max step_time: 0.022943 s
+[2026-09-20 21:54:12,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.42 Hz
+[2026-09-20 21:54:13,189][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.33 iterations per second over 30.00 seconds.
+[2026-09-20 21:54:13,189][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003841 s, max step_time: 0.035927 s
+[2026-09-20 21:54:15,289][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.73 Hz
+[2026-09-20 21:54:22,548][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.09 Hz
+[2026-09-20 21:54:25,292][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.10 Hz
+[2026-09-20 21:54:32,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.80 Hz
+[2026-09-20 21:54:35,295][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.02 Hz
+[2026-09-20 21:54:40,334][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.87 iterations per second over 30.00 seconds.
+[2026-09-20 21:54:40,334][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003893 s, max step_time: 0.007240 s
+[2026-09-20 21:54:42,550][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.12 Hz
+[2026-09-20 21:54:43,192][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.81 iterations per second over 30.00 seconds.
+[2026-09-20 21:54:43,192][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003909 s, max step_time: 0.007800 s
+[2026-09-20 21:54:45,297][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.86 Hz
+[2026-09-20 21:54:52,551][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.19 Hz
+[2026-09-20 21:54:55,297][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.50 Hz
+[2026-09-20 21:55:02,554][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.32 Hz
+[2026-09-20 21:55:03,005][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:55:03,005][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:55:05,298][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.28 Hz
+[2026-09-20 21:55:10,336][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.58 iterations per second over 30.00 seconds.
+[2026-09-20 21:55:10,336][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003991 s, max step_time: 0.031760 s
+[2026-09-20 21:55:12,558][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.10 Hz
+[2026-09-20 21:55:13,192][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.60 iterations per second over 30.00 seconds.
+[2026-09-20 21:55:13,192][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003990 s, max step_time: 0.019547 s
+[2026-09-20 21:55:15,300][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.56 Hz
+[2026-09-20 21:55:22,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.47 Hz
+[2026-09-20 21:55:25,304][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.42 Hz
+[2026-09-20 21:55:28,129][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:55:28,129][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:55:32,563][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.01 Hz
+[2026-09-20 21:55:35,305][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.03 Hz
+[2026-09-20 21:55:40,339][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.81 iterations per second over 30.00 seconds.
+[2026-09-20 21:55:40,339][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003956 s, max step_time: 0.016781 s
+[2026-09-20 21:55:42,565][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.34 Hz
+[2026-09-20 21:55:43,193][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.19 iterations per second over 30.00 seconds.
+[2026-09-20 21:55:43,193][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003965 s, max step_time: 0.019927 s
+[2026-09-20 21:55:45,308][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.73 Hz
+[2026-09-20 21:55:52,568][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.15 Hz
+[2026-09-20 21:55:55,312][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.72 Hz
+[2026-09-20 21:55:59,089][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:55:59,089][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:56:02,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.78 Hz
+[2026-09-20 21:56:05,312][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.29 Hz
+[2026-09-20 21:56:10,340][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.63 iterations per second over 30.00 seconds.
+[2026-09-20 21:56:10,340][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003958 s, max step_time: 0.016013 s
+[2026-09-20 21:56:12,572][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.30 Hz
+[2026-09-20 21:56:13,195][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.52 iterations per second over 30.00 seconds.
+[2026-09-20 21:56:13,195][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003960 s, max step_time: 0.023213 s
+[2026-09-20 21:56:15,316][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.41 Hz
+[2026-09-20 21:56:22,572][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.89 Hz
+[2026-09-20 21:56:25,316][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.48 Hz
+[2026-09-20 21:56:32,575][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.74 Hz
+[2026-09-20 21:56:35,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.33 Hz
+[2026-09-20 21:56:40,340][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.40 iterations per second over 30.00 seconds.
+[2026-09-20 21:56:40,340][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 70 times, mean step_time: 0.003870 s, max step_time: 0.013483 s
+[2026-09-20 21:56:41,601][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.80 iterations per second over 28.41 seconds.
+[2026-09-20 21:56:41,608][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.48 iterations per second over 1.27 seconds.
+[2026-09-20 21:56:43,376][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml
+[2026-09-20 21:56:43,378][i2rt.robots.utils][INFO] -   motor_list:          ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310'))
+[2026-09-20 21:56:43,378][i2rt.robots.utils][INFO] -   directions:          (1, 1, 1, 1, 1, 1)
+[2026-09-20 21:56:43,378][i2rt.robots.utils][INFO] -   kp:                  [80. 80. 80. 40. 10. 10.]
+[2026-09-20 21:56:43,378][i2rt.robots.utils][INFO] -   kd:                  [5.  5.  5.  1.5 1.5 1.5]
+[2026-09-20 21:56:43,378][i2rt.robots.utils][INFO] -   gravity_comp_factor: [1.  1.1 1.1 1.2 1.  1. ]
+[2026-09-20 21:56:43,378][i2rt.robots.utils][INFO] -   grav_comp_kd:        [0.1  0.1  0.1  0.3  0.05 0.05]
+[2026-09-20 21:56:43,378][i2rt.robots.utils][INFO] -   coulomb_friction:    [0.3  0.3  0.3  0.06 0.06 0.06]
+[2026-09-20 21:56:43,378][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra)
+[2026-09-20 21:56:43,379][i2rt.robots.utils][INFO] -   motor_type:          DM4310
+[2026-09-20 21:56:43,379][i2rt.robots.utils][INFO] -   motor_kp:            20.0
+[2026-09-20 21:56:43,379][i2rt.robots.utils][INFO] -   motor_kd:            0.5
+[2026-09-20 21:56:43,379][i2rt.robots.utils][INFO] -   gripper_limits:      None
+[2026-09-20 21:56:43,379][i2rt.robots.utils][INFO] -   needs_calibration:   True
+[2026-09-20 21:56:43,379][i2rt.robots.utils][INFO] -   motor_direction:     1
+[2026-09-20 21:56:43,379][i2rt.robots.utils][INFO] -   limiter_params:      {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096}
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:56:43,380][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:56:43,380][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:56:43,380][root][INFO] - Channel: can_follower_l, Bitrate: 1000000
+[2026-09-20 21:56:43,380][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:56:43,381][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:56:43,393][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:56:43,404][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0
+[2026-09-20 21:56:43,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:56:43,426][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:56:43,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:43,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:56:43,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:56:43,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:43,481][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:56:43,492][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:56:43,503][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:43,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:56:43,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:56:43,536][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:43,547][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:56:43,558][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:56:43,569][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:43,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:56:43,591][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:56:43,603][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:43,613][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:56:43,614][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s))
+[2026-09-20 21:56:43,614][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:56:43,614][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:56:43,669][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:56:43,725][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:56:43,779][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:56:43,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:56:43,890][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:56:43,945][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:56:44,000][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:56:44,000][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:56:44,001][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:56:44,001][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:56:44,012][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:56:44,018][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:56:44,024][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:56:44,030][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:56:44,036][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:56:44,043][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:56:44,051][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:56:44,056][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:56:44,056][root][INFO] - current_pos: [0.05283436331731117, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0005722133211261138, 0.02651255054550994, 0.020027466239413982]
+[2026-09-20 21:56:44,056][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:56:44,056][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:56:44,157][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.05283436331731117, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789912604.157394), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912604.157394), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1789912604.157394), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=41.0, timestamp=1789912604.157394), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789912604.157394), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.02651255054550994, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912604.157394), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.020027466239413982, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912604.157394)]
+[2026-09-20 21:56:44,157][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:56:44,157][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0200
+[2026-09-20 21:56:44,157][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:56:44,838][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2684
+[2026-09-20 21:56:45,138][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:56:45,765][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074
+[2026-09-20 21:56:46,065][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.268368047608149, -0.007438773174639479)
+[2026-09-20 21:56:46,066][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26836805 -0.00743877]
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] -   joint limits (8 joints):
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] -     joint1: [-2.61799, 3.14159]
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] -     joint2: [0.00000, 3.66519]
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] -     joint3: [0.00000, 3.14159]
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] -     joint4: [-1.69297, 1.57080]
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] -     joint5: [-1.57080, 1.57080]
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] -     joint6: [-2.09440, 2.09440]
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] -     joint7: [0.00000, 0.04750]
+[2026-09-20 21:56:46,309][i2rt.robots.get_robot][INFO] -     joint8: [0.00000, 0.04750]
+[2026-09-20 21:56:46,309][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5
+[2026-09-20 21:56:46,309][root][INFO] - Channel: can_follower_r, Bitrate: 1000000
+[2026-09-20 21:56:46,309][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:56:46,310][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:56:46,310][root][INFO] - initializing, ....
+[2026-09-20 21:56:46,321][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40
+[2026-09-20 21:56:46,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:46,343][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:56:46,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40
+[2026-09-20 21:56:46,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:46,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:56:46,387][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40
+[2026-09-20 21:56:46,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:46,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741
+[2026-09-20 21:56:46,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10
+[2026-09-20 21:56:46,432][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:46,443][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:56:46,453][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10
+[2026-09-20 21:56:46,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:46,475][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:56:46,486][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10
+[2026-09-20 21:56:46,496][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:46,507][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:56:46,518][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10
+[2026-09-20 21:56:46,528][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643
+[2026-09-20 21:56:46,539][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485
+[2026-09-20 21:56:46,539][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s))
+[2026-09-20 21:56:46,539][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310
+[2026-09-20 21:56:46,540][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:56:46,594][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:56:46,649][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:56:46,704][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28
+[2026-09-20 21:56:46,759][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:56:46,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:56:46,866][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:56:46,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10
+[2026-09-20 21:56:46,920][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash)
+[2026-09-20 21:56:46,920][can.interfaces.socketcan.socketcan][INFO] - Created a socket
+[2026-09-20 21:56:46,920][root][INFO] - Can interface yam_real use_buffered_reader: False
+[2026-09-20 21:56:46,931][root][INFO] - Turning on motor_id: 1, motor_type: DM4340
+[2026-09-20 21:56:46,936][root][INFO] - Turning on motor_id: 2, motor_type: DM4340
+[2026-09-20 21:56:46,942][root][INFO] - Turning on motor_id: 3, motor_type: DM4340
+[2026-09-20 21:56:46,948][root][INFO] - Turning on motor_id: 4, motor_type: DM4310
+[2026-09-20 21:56:46,954][root][INFO] - Turning on motor_id: 5, motor_type: DM4310
+[2026-09-20 21:56:46,960][root][INFO] - Turning on motor_id: 6, motor_type: DM4310
+[2026-09-20 21:56:46,966][root][INFO] - Turning on motor_id: 7, motor_type: DM4310
+[2026-09-20 21:56:46,972][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)]
+[2026-09-20 21:56:46,972][root][INFO] - current_pos: [-0.060845349813076766, 0.0005722133211261138, 0.000953688868543523, 0.007438773174639479, -0.09212634470130432, -0.05245288776989376, 0.5560006103608757]
+[2026-09-20 21:56:46,972][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+[2026-09-20 21:56:46,972][root][INFO] - starting separate thread for control loop
+[2026-09-20 21:56:47,073][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=0.02051282051282044, pos=-0.060845349813076766, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789912607.0730703), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789912607.0730703), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1789912607.0730703), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.007438773174639479, voltage=-1, temp_mos=35.0, temp_rotor=38.0, timestamp=1789912607.0730703), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.09212634470130432, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789912607.0730703), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.0024420024420024333, pos=-0.0520714122224728, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789912607.0730703), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.5560006103608757, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789912607.0730703)]
+[2026-09-20 21:56:47,123][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits...
+[2026-09-20 21:56:47,124][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.5560
+[2026-09-20 21:56:47,124][i2rt.robots.utils][INFO] - Testing gripper direction: 1
+[2026-09-20 21:56:47,791][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546
+[2026-09-20 21:56:48,091][i2rt.robots.utils][INFO] - Testing gripper direction: -1
+[2026-09-20 21:56:48,757][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113
+[2026-09-20 21:56:49,057][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.254634927901122, -0.011253528648813571)
+[2026-09-20 21:56:49,057][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25463493 -0.01125353]
+[2026-09-20 21:56:49,184][root][INFO] - initializing, ....
+[2026-09-20 21:56:56,313][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.46 Hz
+[2026-09-20 21:56:59,186][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.09 Hz
+[2026-09-20 21:57:06,316][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
+[2026-09-20 21:57:07,641][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:57:07,641][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:57:09,190][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
+[2026-09-20 21:57:14,060][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.57 iterations per second over 30.00 seconds.
+[2026-09-20 21:57:14,060][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003943 s, max step_time: 0.070400 s
+[2026-09-20 21:57:16,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.75 Hz
+[2026-09-20 21:57:16,976][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.40 iterations per second over 30.00 seconds.
+[2026-09-20 21:57:16,976][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003993 s, max step_time: 0.068509 s
+[2026-09-20 21:57:19,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.81 Hz
+[2026-09-20 21:57:26,322][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.33 Hz
+[2026-09-20 21:57:29,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.72 Hz
+[2026-09-20 21:57:31,200][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:57:31,200][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05]
+[2026-09-20 21:57:36,323][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.15 Hz
+[2026-09-20 21:57:39,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.38 Hz
+[2026-09-20 21:57:40,322][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.18 iterations per second over 23.35 seconds.
+[2026-09-20 21:57:40,330][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.84 iterations per second over 26.27 seconds.
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/rounds.json b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/rounds.json
new file mode 100644
index 0000000000000000000000000000000000000000..029c83649e4190fc2435590ecace979cd94ca447
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/rounds.json
@@ -0,0 +1,267 @@
+{
+  "rounds": [
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+      "chunks": 22,
+      "data_saved": false,
+      "operator_result": "discard",
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+      "reviewed_at_ns": 1789902427342575238,
+      "round_number": 1,
+      "status": "failed",
+      "task_success": null
+    },
+    {
+      "actions_sent": 643,
+      "chunks": 21,
+      "data_saved": false,
+      "operator_result": "discard",
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+      "output_dir": null,
+      "reviewed_at_ns": 1789902488848473782,
+      "round_number": 2,
+      "status": "completed",
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+    },
+    {
+      "actions_sent": 578,
+      "chunks": 19,
+      "data_saved": false,
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+      "output_dir": null,
+      "reviewed_at_ns": 1789902581458311005,
+      "round_number": 3,
+      "status": "completed",
+      "task_success": null,
+      "termination_reason": "operator_review"
+    },
+    {
+      "actions_sent": 498,
+      "chunks": 16,
+      "data_saved": true,
+      "operator_result": "failure",
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+      "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi/data/round_0004",
+      "reviewed_at_ns": 1789902643451147096,
+      "round_number": 4,
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+    {
+      "actions_sent": 448,
+      "chunks": 14,
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+      "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi/data/round_0005",
+      "reviewed_at_ns": 1789912055500606608,
+      "round_number": 5,
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+    {
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+    {
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+      "reviewed_at_ns": 1789912204494479559,
+      "round_number": 10,
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+    {
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+      "actions_sent": 78,
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+      "reviewed_at_ns": 1789912265228463608,
+      "round_number": 12,
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+    {
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+      "reviewed_at_ns": 1789912627644933589,
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+      "reviewed_at_ns": 1789912651209216230,
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+      "status": "completed",
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+    }
+  ]
+}
diff --git a/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/runtime/output.lock b/eval/YAM/V3/pi0_20eps_20000/put_baozi/metadata/runtime/output.lock
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391