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a/eval/YAM/V2/dp/bread_pick/data/round_0013/event/event_dict.pkl b/eval/YAM/V2/dp/bread_pick/data/round_0013/event/event_dict.pkl new file mode 100644 index 0000000000000000000000000000000000000000..453873f8c67882344413f03ab5c2f7c67a654f28 Binary files /dev/null and b/eval/YAM/V2/dp/bread_pick/data/round_0013/event/event_dict.pkl differ diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/action.json b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/action.json new file mode 100644 index 0000000000000000000000000000000000000000..bcb37996ebc9ee672919f5ddcd124e77585e1bdf --- /dev/null +++ b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/action.json @@ -0,0 +1,28 @@ +{ + "prometheus_action_recorder": { + "counts": { + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, + "dropped": 0, + "event.workflow": 1, + "items": 3559, + "robot.robot_state": 1884 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0013", + "executed_actions": 288, + "failure": "", + "metadata": { + "round_number": 13, + "run_id": "20260916_232753_053252_round_0013", + "workflow": "openpi_rollout" + }, + "policy_action_chunks": 0, + "record_id": "prometheus_action_recorder", + "record_mode": "action", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789572754.9714537 + } +} diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/camera.json b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/camera.json new file mode 100644 index 0000000000000000000000000000000000000000..e0f79c5c3cefdf64d92950464dc7a25baf3218a4 --- /dev/null +++ b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/camera.json @@ -0,0 +1,101 @@ +{ + "prometheus_camera_base_0_recorder": { + "camera_frames": { + "base_0_rgb": 467 + }, + "camera_timestamp_samples": 467, + "complete_sensor_bundles": 467, + "counts": { + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, + "dropped": 0, + "event.workflow": 1, + "items": 3559, + "robot.robot_state": 1884 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0013", + "failure": "", + "metadata": { + "round_number": 13, + "run_id": "20260916_232753_053252_round_0013", + "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": 1789572754.9714537 + }, + "prometheus_camera_left_wrist_0_recorder": { + "camera_frames": { + "left_wrist_0_rgb": 461 + }, + "camera_timestamp_samples": 461, + "complete_sensor_bundles": 461, + "counts": { + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, + "dropped": 0, + "event.workflow": 1, + "items": 3559, + "robot.robot_state": 1884 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0013", + "failure": "", + "metadata": { + "round_number": 13, + "run_id": "20260916_232753_053252_round_0013", + "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": 1789572754.9714537 + }, + "prometheus_camera_right_wrist_0_recorder": { + "camera_frames": { + "right_wrist_0_rgb": 458 + }, + "camera_timestamp_samples": 458, + "complete_sensor_bundles": 458, + "counts": { + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, + "dropped": 0, + "event.workflow": 1, + "items": 3559, + "robot.robot_state": 1884 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0013", + "failure": "", + "metadata": { + "round_number": 13, + "run_id": "20260916_232753_053252_round_0013", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_camera_right_wrist_0_recorder", + "record_mode": "sensor", + "schema": "prometheus_raw_episode_v1", + "sensor_kind": "camera", + "sensor_name": "right_wrist_0", + "status": "saved", + "updated_at_unix": 1789572754.9714537 + } +} diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/event.json b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/event.json new file mode 100644 index 0000000000000000000000000000000000000000..d8e1f637bfbbb534afbf847a9ca08697288f3909 --- /dev/null +++ b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/event.json @@ -0,0 +1,27 @@ +{ + "prometheus_event_recorder": { + "counts": { + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, + "dropped": 0, + "event.workflow": 1, + "items": 3559, + "robot.robot_state": 1884 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0013", + "event_samples": 1, + "failure": "", + "metadata": { + "round_number": 13, + "run_id": "20260916_232753_053252_round_0013", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_event_recorder", + "record_mode": "event", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789572754.9714537 + } +} diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/robot.json b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..9977bacde6017914caa062e47d6f04701ac608bd --- /dev/null +++ b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/robot.json @@ -0,0 +1,36 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 288, + "camera.base_0_rgb": 467, + "camera.left_wrist_0_rgb": 461, + "camera.right_wrist_0_rgb": 458, + "dropped": 0, + "event.workflow": 1, + "items": 3559, + "robot.robot_state": 1884 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/data/round_0013", + "failure": "", + "incomplete_robot_samples": { + "left": 1884, + "right": 1884 + }, + "metadata": { + "round_number": 13, + "run_id": "20260916_232753_053252_round_0013", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 1884, + "right": 1884 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789572754.9714537 + } +} diff --git a/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/tactile.json b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/dp/bread_pick/data/round_0013/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/dp/bread_pick/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/dp/bread_pick/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6f64833666aef9e5f0298eebf96001935c943ade --- /dev/null +++ b/eval/YAM/V2/dp/bread_pick/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,244 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick + steps: 30 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 32 + prediction_horizon: 32 +policy: + host: 127.0.0.1 + port: 9016 + prompt: bread_pick + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 5.0 + task: bread_pick + expected_checkpoint_path: /home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/bread_pick/best-short.pt + history_tolerance_s: 0.015 + model: dp +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 178.113964503 + - 247.518197236 + - 201.062710341 + - 412.295997642 + - 292.886498339 + - 681.801119417 + - 164.113917278 + - 267.740085544 + - 714.966739645 + - 836.862131179 + - 880.771530315 + - 543.256770374 + - 313.320489803 + - 313.35155152 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: false + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 1.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 + sync_wait_after_ack: true +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: YAM V2 dp bread_pick - sync + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V2/dp/bread_pick/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/dp/bread_pick/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..358430be89d9829fa108e363771b4db139568127 --- /dev/null +++ b/eval/YAM/V2/dp/bread_pick/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.model=dp + - policy.task=bread_pick + - policy.prompt=bread_pick + - policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/bread_pick/best-short.pt + - run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick + - async_inference.enabled=false + - preview.window=YAM V2 dp bread_pick - sync + job: + name: rollout + chdir: false + override_dirname: async_inference.enabled=false,execute=true,policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/bread_pick/best-short.pt,policy.model=dp,policy.prompt=bread_pick,policy.task=bread_pick,preview.window=YAM + V2 dp bread_pick - sync,run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick + id: ??? + num: ??? + config_name: yam_v2 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/dp/bread_pick/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/dp/bread_pick/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..70d3fc4de013021361fd0404288fcaa10cd519a8 --- /dev/null +++ b/eval/YAM/V2/dp/bread_pick/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.model=dp +- policy.task=bread_pick +- policy.prompt=bread_pick +- policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/bread_pick/best-short.pt +- run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bread_pick +- async_inference.enabled=false +- preview.window=YAM V2 dp bread_pick - sync diff --git a/eval/YAM/V2/dp/bread_pick/metadata/hydra/rollout.log b/eval/YAM/V2/dp/bread_pick/metadata/hydra/rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..fcec38be14c5ed7bd5d0c1364228762f65394188 --- /dev/null +++ b/eval/YAM/V2/dp/bread_pick/metadata/hydra/rollout.log @@ -0,0 +1,513 @@ +[2026-09-16 23:25:10,573][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:25:10,574][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:25:10,574][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:25:10,574][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:25:10,574][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:25:10,574][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:25:10,574][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:25:10,574][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:25:10,575][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:25:10,575][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:25:10,575][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:25:10,575][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:25:10,575][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:25:10,575][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:25:10,576][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:25:10,576][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:25:10,576][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:25:10,576][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:25:10,576][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:25:10,576][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:25:10,577][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:25:10,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:25:10,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:25:10,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:25:10,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:25:10,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:10,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:25:10,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:25:10,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:10,677][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:25:10,688][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:25:10,700][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:10,711][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:25:10,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:25:10,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:10,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:25:10,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:25:10,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:10,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:25:10,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:25:10,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:10,811][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:25:10,811][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:25:10,811][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:25:10,811][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:25:10,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:25:10,923][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:25:10,978][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:25:11,034][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:25:11,089][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:25:11,144][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:25:11,200][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:25:11,200][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 23:25:11,200][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:25:11,200][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:25:11,212][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:25:11,217][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:25:11,223][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:25:11,230][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:25:11,237][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:25:11,244][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:25:11,250][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:25:11,256][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=-0.017094017094017033, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.017094017094017033, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:25:11,257][root][INFO] - current_pos: [-0.012397955291065799, -0.000953688868543523, 0.03147173266193626, -0.0623712520027464, -0.006675822079804661, 0.22755016403448458, -0.0001907377737087046] +[2026-09-16 23:25:11,257][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:25:11,257][root][INFO] - starting separate thread for control loop +[2026-09-16 23:25:11,357][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.012397955291065799, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789572311.357623), 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=28.0, timestamp=1789572311.357623), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=0.03147173266193626, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789572311.357623), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.017094017094017033, pos=-0.0623712520027464, voltage=-1, temp_mos=34.0, temp_rotor=34.0, timestamp=1789572311.357623), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0219780219780219, pos=-0.007057297627218517, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789572311.357623), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.22755016403448458, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789572311.357623), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789572311.357623)] +[2026-09-16 23:25:11,357][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:25:11,357][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0002 +[2026-09-16 23:25:11,357][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:25:11,986][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:25:12,286][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:25:12,913][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:25:13,213][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270275425345236, -0.00705729762722207) +[2026-09-16 23:25:13,214][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27027543 -0.0070573 ] +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:25:13,454][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:25:13,454][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:25:13,454][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:25:13,454][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:25:13,455][root][INFO] - initializing, .... +[2026-09-16 23:25:13,455][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:25:13,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:25:13,477][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:13,488][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:25:13,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:25:13,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:13,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:25:13,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:25:13,543][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:13,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:25:13,565][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:25:13,575][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:13,586][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:25:13,597][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:25:13,608][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:13,618][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:25:13,629][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:25:13,640][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:13,650][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:25:13,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:25:13,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:25:13,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:25:13,683][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:25:13,683][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:25:13,683][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:25:13,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:25:13,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:25:13,844][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:25:13,897][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:25:13,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:25:14,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:25:14,060][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:25:14,060][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 23:25:14,060][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:25:14,060][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:25:14,071][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:25:14,076][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:25:14,082][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:25:14,088][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:25:14,094][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:25:14,100][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:25:14,107][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:25:14,113][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 23:25:14,113][root][INFO] - current_pos: [-0.01697566186007471, -0.000953688868543523, 0.000953688868543523, 0.004386968795300206, -0.04787518120088485, -0.022697795071335847, 0.0623712520027464] +[2026-09-16 23:25:14,113][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:25:14,113][root][INFO] - starting separate thread for control loop +[2026-09-16 23:25:14,214][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.02051282051282044, pos=-0.01697566186007471, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789572314.2141922), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159644849, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789572314.2141922), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789572314.2141922), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0040054932478827965, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1789572314.2141922), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.04787518120088485, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789572314.2141922), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.022316319523914885, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789572314.2141922), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.0623712520027464, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789572314.2141922)] +[2026-09-16 23:25:14,214][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:25:14,214][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0624 +[2026-09-16 23:25:14,214][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:25:14,871][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-16 23:25:15,171][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:25:15,786][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:25:16,086][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.256923781185627, -0.010872053101396162) +[2026-09-16 23:25:16,086][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25692378 -0.01087205] +[2026-09-16 23:25:16,217][root][INFO] - initializing, .... +[2026-09-16 23:25:23,463][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.60 Hz +[2026-09-16 23:25:26,223][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.51 Hz +[2026-09-16 23:25:32,084][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:25:32,084][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:25:33,464][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.41 Hz +[2026-09-16 23:25:36,225][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.55 Hz +[2026-09-16 23:25:41,258][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.06 iterations per second over 30.00 seconds. +[2026-09-16 23:25:41,258][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003920 s, max step_time: 0.077294 s +[2026-09-16 23:25:43,466][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 +[2026-09-16 23:25:44,117][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.47 iterations per second over 30.00 seconds. +[2026-09-16 23:25:44,117][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003960 s, max step_time: 0.075849 s +[2026-09-16 23:25:46,229][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.91 Hz +[2026-09-16 23:25:53,468][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.78 Hz +[2026-09-16 23:25:56,231][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.84 Hz +[2026-09-16 23:26:03,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.41 Hz +[2026-09-16 23:26:06,233][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.49 Hz +[2026-09-16 23:26:11,261][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.07 iterations per second over 30.00 seconds. +[2026-09-16 23:26:11,261][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003905 s, max step_time: 0.008691 s +[2026-09-16 23:26:13,473][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.85 Hz +[2026-09-16 23:26:14,118][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.29 iterations per second over 30.00 seconds. +[2026-09-16 23:26:14,120][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003933 s, max step_time: 0.007799 s +[2026-09-16 23:26:16,234][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.26 Hz +[2026-09-16 23:26:23,186][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:26:23,186][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:26:23,473][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.59 Hz +[2026-09-16 23:26:26,237][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.73 Hz +[2026-09-16 23:26:33,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.51 Hz +[2026-09-16 23:26:36,238][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.07 Hz +[2026-09-16 23:26:41,264][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.01 iterations per second over 30.00 seconds. +[2026-09-16 23:26:41,264][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003906 s, max step_time: 0.030884 s +[2026-09-16 23:26:43,479][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.83 Hz +[2026-09-16 23:26:44,119][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.23 iterations per second over 30.00 seconds. +[2026-09-16 23:26:44,123][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003903 s, max step_time: 0.031213 s +[2026-09-16 23:26:46,239][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.79 Hz +[2026-09-16 23:26:53,480][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.58 Hz +[2026-09-16 23:26:56,241][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.01 Hz +[2026-09-16 23:27:03,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.57 Hz +[2026-09-16 23:27:06,243][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.86 Hz +[2026-09-16 23:27:08,328][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:27:08,328][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:27:11,264][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.16 iterations per second over 30.00 seconds. +[2026-09-16 23:27:11,264][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004013 s, max step_time: 0.019151 s +[2026-09-16 23:27:13,486][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.22 Hz +[2026-09-16 23:27:14,122][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.37 iterations per second over 30.00 seconds. +[2026-09-16 23:27:14,126][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003994 s, max step_time: 0.025288 s +[2026-09-16 23:27:16,243][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.48 Hz +[2026-09-16 23:27:23,487][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.96 Hz +[2026-09-16 23:27:26,245][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.59 Hz +[2026-09-16 23:27:33,489][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.55 Hz +[2026-09-16 23:27:36,249][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.69 Hz +[2026-09-16 23:27:41,266][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.52 iterations per second over 30.00 seconds. +[2026-09-16 23:27:41,266][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003898 s, max step_time: 0.009544 s +[2026-09-16 23:27:43,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.05 Hz +[2026-09-16 23:27:44,126][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.20 iterations per second over 30.00 seconds. +[2026-09-16 23:27:44,126][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003903 s, max step_time: 0.011394 s +[2026-09-16 23:27:46,251][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.16 Hz +[2026-09-16 23:27:51,518][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.29 iterations per second over 7.39 seconds. +[2026-09-16 23:27:51,527][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 265.27 iterations per second over 10.26 seconds. +[2026-09-16 23:27:53,382][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:27:53,383][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:27:53,383][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:27:53,383][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:27:53,384][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:27:53,384][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:27:53,384][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:27:53,384][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:27:53,384][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:27:53,385][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:27:53,385][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:27:53,385][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:27:53,385][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:27:53,385][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:27:53,385][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:27:53,385][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-16 23:27:53,385][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 23:27:53,385][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 23:27:53,386][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:27:53,386][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:27:53,386][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:27:53,386][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:27:53,386][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:27:53,386][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:27:53,386][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:27:53,386][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:27:53,386][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:27:53,386][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:27:53,386][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:27:53,386][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:27:53,387][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:27:53,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:27:53,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:27:53,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:27:53,431][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:27:53,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:53,453][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:27:53,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:27:53,475][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:53,487][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:27:53,498][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:27:53,509][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:53,520][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:27:53,531][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:27:53,542][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:53,553][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:27:53,564][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:27:53,575][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:53,586][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:27:53,597][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:27:53,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:53,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:27:53,620][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:27:53,620][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:27:53,620][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:27:53,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:27:53,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:27:53,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:27:53,838][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:27:53,892][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:27:53,946][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:27:54,000][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 +[2026-09-16 23:27:54,000][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) +[2026-09-16 23:27:54,001][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:27:54,001][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:27:54,011][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:27:54,017][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:27:54,023][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:27:54,029][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:27:54,035][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:27:54,041][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:27:54,047][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:27:54,053][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 23:27:54,053][root][INFO] - current_pos: [-0.012397955291065799, -0.000953688868543523, 0.0017166399633783413, 0.0005722133211261138, -0.0020981155107957505, -0.14629587243457642, -0.0024795910582131597] +[2026-09-16 23:27:54,053][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:27:54,053][root][INFO] - starting separate thread for control loop +[2026-09-16 23:27:54,154][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.012397955291065799, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789572474.1541028), 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=28.0, timestamp=1789572474.1541028), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789572474.1541028), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789572474.1541028), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.002479591058209607, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789572474.1541028), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.14667734798199028, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789572474.1541028), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789572474.1541028)] +[2026-09-16 23:27:54,154][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:27:54,154][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0025 +[2026-09-16 23:27:54,154][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:27:54,782][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:27:55,082][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:27:55,706][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:27:56,006][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.00705729762722207) +[2026-09-16 23:27:56,006][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 23:27:56,244][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 23:27:56,245][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 23:27:56,245][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:27:56,245][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:27:56,245][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:27:56,245][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:27:56,245][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:27:56,245][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:27:56,245][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:27:56,245][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:27:56,245][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:27:56,245][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:27:56,245][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:27:56,245][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:27:56,246][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:27:56,247][root][INFO] - initializing, .... +[2026-09-16 23:27:56,257][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:27:56,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:56,279][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:27:56,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:27:56,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:56,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:27:56,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:27:56,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:56,346][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:27:56,357][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:27:56,368][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:56,379][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:27:56,390][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:27:56,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:56,411][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:27:56,422][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:27:56,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:56,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:27:56,454][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:27:56,465][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:27:56,476][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:27:56,476][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:27:56,476][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:27:56,476][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:27:56,530][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:27:56,583][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:27:56,637][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:27:56,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:27:56,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:27:56,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:27:56,851][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:27:56,851][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 23:27:56,851][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:27:56,851][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:27:56,862][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:27:56,867][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:27:56,873][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:27:56,879][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:27:56,885][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:27:56,891][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:27:56,897][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:27:56,903][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:27:56,903][root][INFO] - current_pos: [-0.012397955291065799, -0.0013351644159609322, 0.0005722133211261138, 0.0013351644159609322, -0.023460746166170665, 0.07648584725719054, -0.0013351644159609322] +[2026-09-16 23:27:56,903][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:27:56,903][root][INFO] - starting separate thread for control loop +[2026-09-16 23:27:57,004][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.012397955291065799, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789572477.0041227), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1789572477.0041227), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789572477.0041227), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789572477.0041227), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=-0.023460746166170665, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789572477.0041227), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.07648584725719054, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789572477.0041227), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789572477.0041227)] +[2026-09-16 23:27:57,004][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:27:57,004][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013 +[2026-09-16 23:27:57,004][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:27:57,616][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-16 23:27:57,917][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:27:58,549][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:27:58,849][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.300793469138629, -0.010872053101396162) +[2026-09-16 23:27:58,849][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.30079347 -0.01087205] +[2026-09-16 23:27:58,974][root][INFO] - initializing, .... +[2026-09-16 23:28:06,251][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.81 Hz +[2026-09-16 23:28:08,977][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.84 Hz +[2026-09-16 23:28:16,252][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.85 Hz +[2026-09-16 23:28:16,443][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:28:16,443][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:28:18,977][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.19 Hz +[2026-09-16 23:28:24,054][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.13 iterations per second over 30.00 seconds. +[2026-09-16 23:28:24,054][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003919 s, max step_time: 0.065153 s +[2026-09-16 23:28:26,254][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.25 Hz +[2026-09-16 23:28:26,904][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.93 iterations per second over 30.00 seconds. +[2026-09-16 23:28:26,905][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003953 s, max step_time: 0.067653 s +[2026-09-16 23:28:28,979][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.34 Hz +[2026-09-16 23:28:36,257][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.12 Hz +[2026-09-16 23:28:38,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.36 Hz +[2026-09-16 23:28:46,259][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.16 Hz +[2026-09-16 23:28:48,985][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.91 Hz +[2026-09-16 23:28:50,201][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:28:50,201][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:28:54,056][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.78 iterations per second over 30.00 seconds. +[2026-09-16 23:28:54,056][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003972 s, max step_time: 0.025432 s +[2026-09-16 23:28:56,261][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.35 Hz +[2026-09-16 23:28:56,905][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.03 iterations per second over 30.00 seconds. +[2026-09-16 23:28:56,905][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003984 s, max step_time: 0.031048 s +[2026-09-16 23:28:58,988][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.05 Hz +[2026-09-16 23:29:05,244][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:29:05,244][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:29:06,261][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.68 Hz +[2026-09-16 23:29:08,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.30 Hz +[2026-09-16 23:29:16,262][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.89 Hz +[2026-09-16 23:29:18,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.29 Hz +[2026-09-16 23:29:24,057][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.86 iterations per second over 30.00 seconds. +[2026-09-16 23:29:24,058][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003955 s, max step_time: 0.010111 s +[2026-09-16 23:29:26,266][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.34 Hz +[2026-09-16 23:29:26,908][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.77 iterations per second over 30.00 seconds. +[2026-09-16 23:29:26,908][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003972 s, max step_time: 0.009245 s +[2026-09-16 23:29:28,992][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.74 Hz +[2026-09-16 23:29:29,855][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:29:29,855][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:29:36,266][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.44 Hz +[2026-09-16 23:29:38,990][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.88 Hz +[2026-09-16 23:29:46,267][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.30 Hz +[2026-09-16 23:29:48,992][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.56 Hz +[2026-09-16 23:29:54,059][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.22 iterations per second over 30.00 seconds. +[2026-09-16 23:29:54,059][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003965 s, max step_time: 0.017902 s +[2026-09-16 23:29:56,268][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.88 Hz +[2026-09-16 23:29:56,910][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.38 iterations per second over 30.00 seconds. +[2026-09-16 23:29:56,911][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003962 s, max step_time: 0.027739 s +[2026-09-16 23:29:58,996][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.04 Hz +[2026-09-16 23:30:00,785][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:30:00,785][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:30:06,269][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.97 Hz +[2026-09-16 23:30:08,995][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.88 Hz +[2026-09-16 23:30:16,271][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.06 Hz +[2026-09-16 23:30:18,997][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.64 Hz +[2026-09-16 23:30:24,062][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.18 iterations per second over 30.00 seconds. +[2026-09-16 23:30:24,062][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003965 s, max step_time: 0.023924 s +[2026-09-16 23:30:26,270][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.38 Hz +[2026-09-16 23:30:26,912][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.59 iterations per second over 30.00 seconds. +[2026-09-16 23:30:26,912][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003975 s, max step_time: 0.024576 s +[2026-09-16 23:30:29,001][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.92 Hz +[2026-09-16 23:30:31,314][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:30:31,315][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:30:36,272][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.25 Hz +[2026-09-16 23:30:39,003][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.44 Hz +[2026-09-16 23:30:46,273][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.09 Hz +[2026-09-16 23:30:49,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.73 Hz +[2026-09-16 23:30:54,064][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.95 iterations per second over 30.00 seconds. +[2026-09-16 23:30:54,064][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004017 s, max step_time: 0.020682 s +[2026-09-16 23:30:56,234][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:30:56,234][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:30:56,273][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.39 Hz +[2026-09-16 23:30:56,912][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.53 iterations per second over 30.00 seconds. +[2026-09-16 23:30:56,913][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004008 s, max step_time: 0.020988 s +[2026-09-16 23:30:59,009][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.55 Hz +[2026-09-16 23:31:06,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.56 Hz +[2026-09-16 23:31:09,009][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.19 Hz +[2026-09-16 23:31:16,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.00 Hz +[2026-09-16 23:31:19,010][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.48 Hz +[2026-09-16 23:31:22,254][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:31:22,254][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:31:24,067][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.71 iterations per second over 30.00 seconds. +[2026-09-16 23:31:24,067][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003973 s, max step_time: 0.024177 s +[2026-09-16 23:31:26,276][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.40 Hz +[2026-09-16 23:31:26,913][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.13 iterations per second over 30.00 seconds. +[2026-09-16 23:31:26,913][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003951 s, max step_time: 0.026391 s +[2026-09-16 23:31:29,013][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.35 Hz +[2026-09-16 23:31:36,279][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.23 Hz +[2026-09-16 23:31:39,013][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.25 Hz +[2026-09-16 23:31:46,278][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.89 Hz +[2026-09-16 23:31:49,017][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.64 Hz +[2026-09-16 23:31:54,067][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.23 iterations per second over 30.00 seconds. +[2026-09-16 23:31:54,067][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003980 s, max step_time: 0.012976 s +[2026-09-16 23:31:56,282][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 +[2026-09-16 23:31:56,916][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.90 iterations per second over 30.00 seconds. +[2026-09-16 23:31:56,917][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 58 times, mean step_time: 0.004002 s, max step_time: 0.012897 s +[2026-09-16 23:31:59,019][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.93 Hz +[2026-09-16 23:31:59,780][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:31:59,781][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:32:06,284][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.62 Hz +[2026-09-16 23:32:09,021][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.15 Hz +[2026-09-16 23:32:16,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.59 Hz +[2026-09-16 23:32:19,021][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.99 Hz +[2026-09-16 23:32:24,069][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.08 iterations per second over 30.00 seconds. +[2026-09-16 23:32:24,069][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 100 times, mean step_time: 0.003951 s, max step_time: 0.027101 s +[2026-09-16 23:32:26,287][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.13 Hz +[2026-09-16 23:32:26,919][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.74 iterations per second over 30.00 seconds. +[2026-09-16 23:32:26,919][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 82 times, mean step_time: 0.003926 s, max step_time: 0.027401 s +[2026-09-16 23:32:29,024][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.52 Hz +[2026-09-16 23:32:34,805][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:32:34,806][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:32:36,288][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.38 Hz +[2026-09-16 23:32:39,024][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.50 Hz +[2026-09-16 23:32:46,289][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.49 Hz +[2026-09-16 23:32:49,027][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.82 Hz +[2026-09-16 23:32:54,069][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.73 iterations per second over 30.00 seconds. +[2026-09-16 23:32:54,070][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 104 times, mean step_time: 0.003957 s, max step_time: 0.039457 s +[2026-09-16 23:32:56,290][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.76 Hz +[2026-09-16 23:32:56,920][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.42 iterations per second over 30.00 seconds. +[2026-09-16 23:32:56,921][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 104 times, mean step_time: 0.003962 s, max step_time: 0.041682 s +[2026-09-16 23:32:59,036][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.22 Hz +[2026-09-16 23:33:05,173][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] +[2026-09-16 23:33:05,173][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] +[2026-09-16 23:33:06,293][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.23 Hz +[2026-09-16 23:33:09,031][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.18 Hz +[2026-09-16 23:33:16,295][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.21 Hz +[2026-09-16 23:33:19,032][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.87 Hz +[2026-09-16 23:33:24,071][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.29 iterations per second over 30.00 seconds. +[2026-09-16 23:33:24,071][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 70 times, mean step_time: 0.003902 s, max step_time: 0.019954 s +[2026-09-16 23:33:26,298][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.14 Hz +[2026-09-16 23:33:26,921][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.73 iterations per second over 30.00 seconds. +[2026-09-16 23:33:26,921][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 86 times, mean step_time: 0.003895 s, max step_time: 0.019055 s +[2026-09-16 23:33:29,034][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.35 Hz +[2026-09-16 23:33:36,301][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.33 Hz +[2026-09-16 23:33:39,036][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.15 Hz +[2026-09-16 23:33:46,301][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.20 Hz +[2026-09-16 23:33:48,767][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:33:48,767][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:33:49,036][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.29 Hz +[2026-09-16 23:33:54,071][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.13 iterations per second over 30.00 seconds. +[2026-09-16 23:33:54,071][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 107 times, mean step_time: 0.003966 s, max step_time: 0.027784 s +[2026-09-16 23:33:56,301][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.69 Hz +[2026-09-16 23:33:56,350][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.50 iterations per second over 29.43 seconds. +[2026-09-16 23:33:56,360][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.46 iterations per second over 2.29 seconds. diff --git a/eval/YAM/V2/dp/bread_pick/metadata/runtime/output.lock b/eval/YAM/V2/dp/bread_pick/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/eval/YAM/V2/dp/open_baozi/data/round_0002/debug/validations/validation_0001.json b/eval/YAM/V2/dp/open_baozi/data/round_0002/debug/validations/validation_0001.json new file mode 100644 index 0000000000000000000000000000000000000000..11046c8b5551fcab7f630647537e5c42f0c05f8e --- 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file mode 100644 index 0000000000000000000000000000000000000000..274b31cfe0556510194f2e3b5b0702672c0c16f4 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/catch_and_place/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/seven_tasks_5000/catch_and_place + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the right arm to pick up the spatula, hand it over to the left arm, + and place it in the frying pan. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5df8b0f939bdac5ae81d597cab329089c14e76d7 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Use the right arm to pick up the spatula, hand it over to the + left arm, and place it in the frying pan." + - run.output_dir=outputs/openpi_rollout/seven_tasks_5000/catch_and_place + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use + the right arm to pick up the spatula, hand it over to the left arm, and place + it in the frying pan.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/seven_tasks_5000/catch_and_place,run.steps=40 + id: ??? + num: ??? + config_name: openpi_seven_tasks_5000 + 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/seven_tasks_5000/catch_and_place/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c408ffd2e481e16b9111793245f8c079c320d5e9 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Use the right arm to pick up the spatula, hand it over to the left + arm, and place it in the frying pan." +- run.output_dir=outputs/openpi_rollout/seven_tasks_5000/catch_and_place diff --git a/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..5b18e1ae6993cdfdcb19ff0b70c835eccc96bc40 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/hydra/openpi_rollout.log @@ -0,0 +1,876 @@ +[2026-09-17 00:33:06,120][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 00:33:06,122][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 00:33:06,122][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 00:33:06,122][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 00:33:06,122][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 00:33:06,122][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 00:33:06,122][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 00:33:06,122][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 00:33:06,122][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 00:33:06,124][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 00:33:06,124][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 00:33:06,124][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 00:33:06,124][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 00:33:06,124][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 00:33:06,124][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 00:33:06,124][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} +[2026-09-17 00:33:06,124][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 +[2026-09-17 00:33:06,124][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 +[2026-09-17 00:33:06,124][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:33:06,124][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:33:06,124][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:33:06,124][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:33:06,124][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:33:06,124][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:33:06,124][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:33:06,124][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:33:06,124][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:33:06,124][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:33:06,125][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 00:33:06,125][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 +[2026-09-17 00:33:06,125][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:33:06,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:33:06,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 00:33:06,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:33:06,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:33:06,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:06,192][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:33:06,203][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:33:06,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:06,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:33:06,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:33:06,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:06,259][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:33:06,270][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:33:06,281][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:06,292][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:33:06,303][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:33:06,314][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:06,325][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:33:06,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:33:06,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:06,357][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:33:06,357][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 00:33:06,357][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 +[2026-09-17 00:33:06,358][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:33:06,412][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 +[2026-09-17 00:33:06,466][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 00:33:06,520][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 +[2026-09-17 00:33:06,574][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 +[2026-09-17 00:33:06,628][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 +[2026-09-17 00:33:06,682][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 +[2026-09-17 00:33:06,736][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 +[2026-09-17 00:33:06,736][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) +[2026-09-17 00:33:06,737][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:33:06,737][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:33:06,747][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:33:06,753][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:33:06,759][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:33:06,765][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:33:06,771][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:33:06,777][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:33:06,783][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:33:06,789][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.017094017094017033, 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)] +[2026-09-17 00:33:06,789][root][INFO] - current_pos: [0.07991912718394723, -0.000953688868543523, 0.024605172808422893, -0.046349279011215216, 0.033379110399023304, -0.02574959945067512, 0.019645990691996573] +[2026-09-17 00:33:06,789][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:33:06,789][root][INFO] - starting separate thread for control loop +[2026-09-17 00:33:06,890][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=0.07991912718394723, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789576386.8900833), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789576386.8900833), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.024605172808422893, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789576386.8900833), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=-0.046349279011215216, voltage=-1, temp_mos=35.0, temp_rotor=35.0, timestamp=1789576386.8900833), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=0.033379110399023304, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789576386.8900833), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.02574959945067512, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576386.8900833), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.019645990691996573, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789576386.8900833)] +[2026-09-17 00:33:06,890][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:33:06,890][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0196 +[2026-09-17 00:33:06,890][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:33:07,520][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-17 00:33:07,820][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:33:08,447][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 00:33:08,747][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.00705729762722207) +[2026-09-17 00:33:08,748][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-17 00:33:08,985][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 +[2026-09-17 00:33:08,985][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 +[2026-09-17 00:33:08,985][root][INFO] - initializing, .... +[2026-09-17 00:33:08,985][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:33:08,986][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:33:08,986][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:33:08,986][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:33:08,986][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:33:08,986][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:33:08,986][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:33:08,986][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:33:08,986][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:33:08,986][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:33:08,986][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 00:33:08,986][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 +[2026-09-17 00:33:08,986][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:33:08,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:33:09,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:09,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:33:09,030][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:33:09,041][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:09,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:33:09,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:33:09,073][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:09,084][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:33:09,095][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:33:09,105][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:09,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:33:09,127][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:33:09,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:09,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:33:09,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:33:09,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:09,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:33:09,192][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:33:09,203][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:33:09,213][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:33:09,214][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 00:33:09,214][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 +[2026-09-17 00:33:09,214][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:33:09,268][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 +[2026-09-17 00:33:09,322][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 +[2026-09-17 00:33:09,375][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 +[2026-09-17 00:33:09,429][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 +[2026-09-17 00:33:09,482][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 +[2026-09-17 00:33:09,536][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 +[2026-09-17 00:33:09,589][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 +[2026-09-17 00:33:09,590][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) +[2026-09-17 00:33:09,590][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:33:09,590][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:33:09,600][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:33:09,606][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:33:09,612][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:33:09,618][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:33:09,624][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:33:09,630][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:33:09,636][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:33:09,642][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-17 00:33:09,642][root][INFO] - current_pos: [-0.08144502937361686, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, -0.0413900968947889, 0.07534142061493831, 0.24280918593118095] +[2026-09-17 00:33:09,642][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:33:09,642][root][INFO] - starting separate thread for control loop +[2026-09-17 00:33:09,743][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=-0.08144502937361686, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789576389.7432618), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789576389.7432618), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789576389.7432618), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789576389.7432618), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0413900968947889, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789576389.7432618), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.07534142061493831, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576389.7432618), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.24280918593118095, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576389.7432618)] +[2026-09-17 00:33:09,743][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:33:09,743][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.2428 +[2026-09-17 00:33:09,743][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:33:10,423][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2535 +[2026-09-17 00:33:10,724][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:33:11,361][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 00:33:11,661][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25349050125887, -0.013160906385900617) +[2026-09-17 00:33:11,662][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2534905 -0.01316091] +[2026-09-17 00:33:11,798][root][INFO] - initializing, .... +[2026-09-17 00:33:18,990][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.66 Hz +[2026-09-17 00:33:21,805][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.64 Hz +[2026-09-17 00:33:28,992][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.25 Hz +[2026-09-17 00:33:30,669][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] +[2026-09-17 00:33:30,669][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] +[2026-09-17 00:33:31,807][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.00 Hz +[2026-09-17 00:33:36,792][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.48 iterations per second over 30.00 seconds. +[2026-09-17 00:33:36,792][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003960 s, max step_time: 0.075186 s +[2026-09-17 00:33:38,994][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.52 Hz +[2026-09-17 00:33:39,646][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.57 iterations per second over 30.00 seconds. +[2026-09-17 00:33:39,647][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 38 times, mean step_time: 0.004006 s, max step_time: 0.069979 s +[2026-09-17 00:33:41,809][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.98 Hz +[2026-09-17 00:33:48,995][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.49 Hz +[2026-09-17 00:33:51,809][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.59 Hz +[2026-09-17 00:33:58,997][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.56 Hz +[2026-09-17 00:34:01,809][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.99 Hz +[2026-09-17 00:34:06,797][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.93 iterations per second over 30.00 seconds. +[2026-09-17 00:34:06,797][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003954 s, max step_time: 0.008467 s +[2026-09-17 00:34:09,000][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.61 Hz +[2026-09-17 00:34:09,550][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] +[2026-09-17 00:34:09,550][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] +[2026-09-17 00:34:09,669][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.11 iterations per second over 30.02 seconds. +[2026-09-17 00:34:09,673][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: 0.029378 s +[2026-09-17 00:34:11,812][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.42 Hz +[2026-09-17 00:34:19,003][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.14 Hz +[2026-09-17 00:34:21,813][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.10 Hz +[2026-09-17 00:34:29,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.61 Hz +[2026-09-17 00:34:31,815][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.01 Hz +[2026-09-17 00:34:36,798][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.09 iterations per second over 30.00 seconds. +[2026-09-17 00:34:36,798][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003890 s, max step_time: 0.026452 s +[2026-09-17 00:34:39,007][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.39 Hz +[2026-09-17 00:34:39,671][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.72 iterations per second over 30.00 seconds. +[2026-09-17 00:34:39,675][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003880 s, max step_time: 0.007843 s +[2026-09-17 00:34:41,817][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.27 Hz +[2026-09-17 00:34:49,010][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.61 Hz +[2026-09-17 00:34:51,820][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.63 Hz +[2026-09-17 00:34:59,010][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.29 Hz +[2026-09-17 00:35:01,822][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.54 Hz +[2026-09-17 00:35:06,585][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] +[2026-09-17 00:35:06,585][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] +[2026-09-17 00:35:06,800][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.02 iterations per second over 30.00 seconds. +[2026-09-17 00:35:06,800][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.004016 s, max step_time: 0.043741 s +[2026-09-17 00:35:09,011][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.68 Hz +[2026-09-17 00:35:09,673][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.81 iterations per second over 30.00 seconds. +[2026-09-17 00:35:09,678][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.004035 s, max step_time: 0.023930 s +[2026-09-17 00:35:11,825][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.52 Hz +[2026-09-17 00:35:19,013][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.56 Hz +[2026-09-17 00:35:21,827][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.15 Hz +[2026-09-17 00:35:29,015][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.94 Hz +[2026-09-17 00:35:31,828][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.47 Hz +[2026-09-17 00:35:36,801][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.93 iterations per second over 30.00 seconds. +[2026-09-17 00:35:36,801][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003938 s, max step_time: 0.008805 s +[2026-09-17 00:35:39,018][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.04 Hz +[2026-09-17 00:35:39,676][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.24 iterations per second over 30.00 seconds. +[2026-09-17 00:35:39,680][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003980 s, max step_time: 0.008293 s +[2026-09-17 00:35:41,830][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.65 Hz +[2026-09-17 00:35:44,484][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:35:44,484][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:35:49,020][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.73 Hz +[2026-09-17 00:35:51,830][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.70 Hz +[2026-09-17 00:35:59,022][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.14 Hz +[2026-09-17 00:36:01,833][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.03 Hz +[2026-09-17 00:36:06,802][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.32 iterations per second over 30.00 seconds. +[2026-09-17 00:36:06,802][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003963 s, max step_time: 0.023838 s +[2026-09-17 00:36:09,026][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.92 Hz +[2026-09-17 00:36:09,678][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.22 iterations per second over 30.00 seconds. +[2026-09-17 00:36:09,681][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003965 s, max step_time: 0.030477 s +[2026-09-17 00:36:11,835][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.65 Hz +[2026-09-17 00:36:17,824][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] +[2026-09-17 00:36:17,824][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] +[2026-09-17 00:36:19,029][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.93 Hz +[2026-09-17 00:36:21,835][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.19 Hz +[2026-09-17 00:36:29,031][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.34 Hz +[2026-09-17 00:36:31,837][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.36 Hz +[2026-09-17 00:36:36,802][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.90 iterations per second over 30.00 seconds. +[2026-09-17 00:36:36,803][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003923 s, max step_time: 0.024266 s +[2026-09-17 00:36:39,033][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.82 Hz +[2026-09-17 00:36:39,680][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.65 iterations per second over 30.00 seconds. +[2026-09-17 00:36:39,684][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003912 s, max step_time: 0.022864 s +[2026-09-17 00:36:41,840][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.02 Hz +[2026-09-17 00:36:49,037][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.70 Hz +[2026-09-17 00:36:51,846][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.98 Hz +[2026-09-17 00:36:55,095][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.30 iterations per second over 15.41 seconds. +[2026-09-17 00:36:55,102][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.45 iterations per second over 18.30 seconds. +[2026-09-17 00:36:58,027][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 00:36:58,028][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 00:36:58,028][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 00:36:58,029][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 00:36:58,029][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 00:36:58,029][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 00:36:58,029][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 00:36:58,029][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 00:36:58,029][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 00:36:58,030][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 00:36:58,030][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 00:36:58,030][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 00:36:58,030][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 00:36:58,030][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 00:36:58,030][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 00:36:58,030][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} +[2026-09-17 00:36:58,030][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 +[2026-09-17 00:36:58,031][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 +[2026-09-17 00:36:58,031][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:36:58,031][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:36:58,031][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:36:58,031][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:36:58,031][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:36:58,031][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:36:58,031][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:36:58,031][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:36:58,031][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:36:58,031][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:36:58,031][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 00:36:58,031][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 +[2026-09-17 00:36:58,032][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:36:58,043][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:36:58,054][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 00:36:58,065][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:36:58,076][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:36:58,087][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:36:58,098][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:36:58,109][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:36:58,120][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:36:58,131][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:36:58,142][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:36:58,153][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:36:58,164][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:36:58,175][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:36:58,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:36:58,198][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:36:58,209][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:36:58,220][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:36:58,231][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:36:58,242][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:36:58,253][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:36:58,264][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:36:58,264][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 00:36:58,264][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 +[2026-09-17 00:36:58,265][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:36:58,320][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 +[2026-09-17 00:36:58,375][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 +[2026-09-17 00:36:58,429][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 +[2026-09-17 00:36:58,484][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 +[2026-09-17 00:36:58,539][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 +[2026-09-17 00:36:58,593][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 +[2026-09-17 00:36:58,647][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 +[2026-09-17 00:36:58,647][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) +[2026-09-17 00:36:58,647][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:36:58,647][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:36:58,658][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:36:58,663][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:36:58,669][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:36:58,675][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:36:58,681][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:36:58,688][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:36:58,695][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:36:58,703][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=-0.012210012210012167, 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)] +[2026-09-17 00:36:58,703][root][INFO] - current_pos: [0.027656977187762166, -0.0001907377737087046, 0.0017166399633783413, 0.007438773174639479, -0.05092698558022413, 0.06313420309758122, 0.022316319523918438] +[2026-09-17 00:36:58,703][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:36:58,703][root][INFO] - starting separate thread for control loop +[2026-09-17 00:36:58,804][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=0.027656977187762166, voltage=-1, temp_mos=30.0, temp_rotor=27.0, timestamp=1789576618.8041513), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.0001907377737087046, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576618.8041513), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789576618.8041513), 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=40.0, timestamp=1789576618.8041513), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.017094017094017033, pos=-0.050545510032803165, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789576618.8041513), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.06313420309758122, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576618.8041513), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789576618.8041513)] +[2026-09-17 00:36:58,804][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:36:58,804][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-17 00:36:58,804][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:36:59,435][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-17 00:36:59,735][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:37:00,360][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 00:37:00,660][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.007057297627218517) +[2026-09-17 00:37:00,661][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-17 00:37:00,953][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 +[2026-09-17 00:37:00,953][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 +[2026-09-17 00:37:00,953][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:37:00,953][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:37:00,953][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:37:00,953][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:37:00,953][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:37:00,953][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:37:00,953][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:37:00,953][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:37:00,953][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:37:00,953][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:37:00,953][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 00:37:00,953][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 +[2026-09-17 00:37:00,953][root][INFO] - initializing, .... +[2026-09-17 00:37:00,954][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:37:00,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:37:00,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:37:00,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:37:00,998][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:37:01,009][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:37:01,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:37:01,032][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:37:01,043][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:37:01,054][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:37:01,065][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:37:01,077][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:37:01,088][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:37:01,099][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:37:01,110][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:37:01,121][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:37:01,132][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:37:01,144][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:37:01,155][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:37:01,166][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:37:01,177][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:37:01,188][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:37:01,188][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 00:37:01,188][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 +[2026-09-17 00:37:01,189][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:37:01,244][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 +[2026-09-17 00:37:01,299][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 +[2026-09-17 00:37:01,355][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 +[2026-09-17 00:37:01,411][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 +[2026-09-17 00:37:01,466][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 +[2026-09-17 00:37:01,521][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 +[2026-09-17 00:37:01,576][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 +[2026-09-17 00:37:01,577][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 00:37:01,577][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:37:01,577][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:37:01,588][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:37:01,594][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:37:01,600][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:37:01,606][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:37:01,613][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:37:01,619][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:37:01,626][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:37:01,633][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-17 00:37:01,633][root][INFO] - current_pos: [0.009346150911726525, 0.0005722133211261138, 0.000953688868543523, 0.000953688868543523, -0.023079270618753256, 0.06771190966659013, 0.010490577553978753] +[2026-09-17 00:37:01,633][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:37:01,633][root][INFO] - starting separate thread for control loop +[2026-09-17 00:37:01,734][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=0.009346150911726525, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789576621.7340598), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789576621.7340598), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789576621.7340598), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789576621.7340598), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.023079270618753256, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789576621.7340598), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.06771190966659013, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576621.7340598), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.010490577553978753, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576621.7340598)] +[2026-09-17 00:37:01,734][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:37:01,734][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0105 +[2026-09-17 00:37:01,734][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:37:02,410][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2539 +[2026-09-17 00:37:02,710][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:37:03,328][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 00:37:03,629][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.276760509651332, -0.010872053101396162) +[2026-09-17 00:37:03,629][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27676051 -0.01087205] +[2026-09-17 00:37:03,762][root][INFO] - initializing, .... +[2026-09-17 00:37:10,956][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.48 Hz +[2026-09-17 00:37:13,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.70 Hz +[2026-09-17 00:37:20,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.33 Hz +[2026-09-17 00:37:23,770][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.64 Hz +[2026-09-17 00:37:28,174][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] +[2026-09-17 00:37:28,174][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] +[2026-09-17 00:37:28,707][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.87 iterations per second over 30.00 seconds. +[2026-09-17 00:37:28,707][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004001 s, max step_time: 0.069894 s +[2026-09-17 00:37:30,961][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.93 Hz +[2026-09-17 00:37:31,636][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.35 iterations per second over 30.00 seconds. +[2026-09-17 00:37:31,636][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 31 times, mean step_time: 0.004059 s, max step_time: 0.068153 s +[2026-09-17 00:37:33,771][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.86 Hz +[2026-09-17 00:37:40,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.39 Hz +[2026-09-17 00:37:43,774][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.43 Hz +[2026-09-17 00:37:50,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.26 Hz +[2026-09-17 00:37:53,778][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.10 Hz +[2026-09-17 00:37:58,707][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.47 iterations per second over 30.00 seconds. +[2026-09-17 00:37:58,707][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003961 s, max step_time: 0.010359 s +[2026-09-17 00:38:00,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.75 Hz +[2026-09-17 00:38:01,636][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.37 iterations per second over 30.00 seconds. +[2026-09-17 00:38:01,636][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003994 s, max step_time: 0.008443 s +[2026-09-17 00:38:03,781][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.04 Hz +[2026-09-17 00:38:07,042][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] +[2026-09-17 00:38:07,042][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] +[2026-09-17 00:38:10,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.31 Hz +[2026-09-17 00:38:13,784][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.41 Hz +[2026-09-17 00:38:20,972][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.91 Hz +[2026-09-17 00:38:23,786][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.48 Hz +[2026-09-17 00:38:28,709][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.32 iterations per second over 30.00 seconds. +[2026-09-17 00:38:28,709][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003995 s, max step_time: 0.021177 s +[2026-09-17 00:38:30,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.38 Hz +[2026-09-17 00:38:31,636][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.50 iterations per second over 30.00 seconds. +[2026-09-17 00:38:31,637][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003992 s, max step_time: 0.027896 s +[2026-09-17 00:38:33,788][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.12 Hz +[2026-09-17 00:38:40,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.98 Hz +[2026-09-17 00:38:43,789][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 +[2026-09-17 00:38:50,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.86 Hz +[2026-09-17 00:38:53,789][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.48 Hz +[2026-09-17 00:38:58,713][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.16 iterations per second over 30.00 seconds. +[2026-09-17 00:38:58,714][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004030 s, max step_time: 0.009544 s +[2026-09-17 00:39:00,613][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] +[2026-09-17 00:39:00,614][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] +[2026-09-17 00:39:00,979][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.12 Hz +[2026-09-17 00:39:01,638][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.72 iterations per second over 30.00 seconds. +[2026-09-17 00:39:01,638][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004053 s, max step_time: 0.051970 s +[2026-09-17 00:39:03,793][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.81 Hz +[2026-09-17 00:39:10,981][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.56 Hz +[2026-09-17 00:39:13,796][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.13 Hz +[2026-09-17 00:39:20,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.59 Hz +[2026-09-17 00:39:23,799][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.92 Hz +[2026-09-17 00:39:28,718][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.73 iterations per second over 30.00 seconds. +[2026-09-17 00:39:28,718][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003926 s, max step_time: 0.046072 s +[2026-09-17 00:39:30,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.97 Hz +[2026-09-17 00:39:31,640][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.42 iterations per second over 30.00 seconds. +[2026-09-17 00:39:31,640][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003930 s, max step_time: 0.009548 s +[2026-09-17 00:39:33,807][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.28 Hz +[2026-09-17 00:39:40,983][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.59 Hz +[2026-09-17 00:39:43,804][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.79 Hz +[2026-09-17 00:39:50,983][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 274.17 Hz +[2026-09-17 00:39:52,038][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.42 iterations per second over 20.40 seconds. +[2026-09-17 00:39:52,046][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 266.59 iterations per second over 23.33 seconds. +[2026-09-17 00:39:54,422][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 00:39:54,423][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 00:39:54,423][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 00:39:54,423][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 00:39:54,423][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 00:39:54,423][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 00:39:54,424][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 00:39:54,424][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 00:39:54,424][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 00:39:54,425][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 00:39:54,425][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 00:39:54,425][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 00:39:54,425][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 00:39:54,425][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 00:39:54,425][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 00:39:54,425][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} +[2026-09-17 00:39:54,425][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 +[2026-09-17 00:39:54,425][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 +[2026-09-17 00:39:54,425][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:39:54,425][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:39:54,425][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:39:54,425][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:39:54,425][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:39:54,425][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:39:54,425][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:39:54,425][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:39:54,426][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:39:54,426][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:39:54,426][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 00:39:54,426][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 +[2026-09-17 00:39:54,426][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:39:54,438][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:39:54,450][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 00:39:54,461][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:39:54,472][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:39:54,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:54,494][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:39:54,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:39:54,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:54,528][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:39:54,539][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:39:54,550][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:54,562][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:39:54,573][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:39:54,584][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:54,595][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:39:54,606][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:39:54,618][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:54,629][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:39:54,640][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:39:54,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:54,663][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:39:54,663][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-17 00:39:54,663][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 00:39:54,663][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:39:54,720][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 +[2026-09-17 00:39:54,774][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 +[2026-09-17 00:39:54,829][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 +[2026-09-17 00:39:54,883][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 +[2026-09-17 00:39:54,937][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 +[2026-09-17 00:39:54,991][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 +[2026-09-17 00:39:55,045][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 +[2026-09-17 00:39:55,045][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) +[2026-09-17 00:39:55,045][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:39:55,045][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:39:55,056][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:39:55,061][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:39:55,068][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:39:55,074][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:39:55,080][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:39:55,086][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:39:55,092][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:39:55,098][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=0.012210012210012167, 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)] +[2026-09-17 00:39:55,098][root][INFO] - current_pos: [0.04901960784313708, -0.0001907377737087046, 0.0017166399633783413, 0.0005722133211261138, 0.018501564049744346, 0.003242542153047978, 0.022316319523918438] +[2026-09-17 00:39:55,098][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:39:55,098][root][INFO] - starting separate thread for control loop +[2026-09-17 00:39:55,199][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.04901960784313708, voltage=-1, temp_mos=30.0, temp_rotor=27.0, timestamp=1789576795.1990695), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576795.1990695), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789576795.1990695), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=36.0, temp_rotor=41.0, timestamp=1789576795.1990695), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.018501564049744346, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789576795.1990695), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.003242542153047978, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576795.1990695), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789576795.1990695)] +[2026-09-17 00:39:55,199][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:39:55,199][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-17 00:39:55,199][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:39:55,825][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-17 00:39:56,126][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:39:56,753][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 00:39:57,053][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.272564278629741, -0.00705729762722207) +[2026-09-17 00:39:57,053][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27256428 -0.0070573 ] +[2026-09-17 00:39:57,288][root][INFO] - initializing, .... +[2026-09-17 00:39:57,288][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 +[2026-09-17 00:39:57,288][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 +[2026-09-17 00:39:57,288][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:39:57,288][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:39:57,288][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:39:57,288][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:39:57,288][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:39:57,288][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:39:57,288][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:39:57,288][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:39:57,288][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:39:57,289][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:39:57,289][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 00:39:57,289][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 +[2026-09-17 00:39:57,289][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:39:57,300][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:39:57,311][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:57,321][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:39:57,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:39:57,343][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:57,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:39:57,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:39:57,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:57,387][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:39:57,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:39:57,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:57,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:39:57,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:39:57,441][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:57,452][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:39:57,462][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:39:57,473][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:57,484][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:39:57,495][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:39:57,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:39:57,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:39:57,516][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 00:39:57,516][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 +[2026-09-17 00:39:57,516][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:39:57,570][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 +[2026-09-17 00:39:57,624][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 +[2026-09-17 00:39:57,677][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 +[2026-09-17 00:39:57,731][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 +[2026-09-17 00:39:57,784][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 +[2026-09-17 00:39:57,838][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 +[2026-09-17 00:39:57,891][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 +[2026-09-17 00:39:57,891][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.37 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 00:39:57,891][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:39:57,892][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:39:57,902][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:39:57,907][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:39:57,913][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:39:57,919][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:39:57,925][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:39:57,932][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:39:57,937][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:39:57,943][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)] +[2026-09-17 00:39:57,944][root][INFO] - current_pos: [0.06427862973983345, 0.0005722133211261138, 0.000953688868543523, 0.0013351644159609322, -0.024223697261005483, -0.052071412222476354, 1.5222781719691767] +[2026-09-17 00:39:57,944][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:39:57,944][root][INFO] - starting separate thread for control loop +[2026-09-17 00:39:58,044][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=0.06427862973983345, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789576798.0444684), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1789576798.0444684), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789576798.0444684), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789576798.0444684), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.024223697261005483, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789576798.0444684), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.052071412222476354, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576798.0444684), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=1.5222781719691767, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576798.0444684)] +[2026-09-17 00:39:58,044][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:39:58,044][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.5223 +[2026-09-17 00:39:58,044][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:39:58,667][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2539 +[2026-09-17 00:39:58,967][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:39:59,595][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 00:39:59,895][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253871976806288, -0.010872053101396162) +[2026-09-17 00:39:59,895][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25387198 -0.01087205] +[2026-09-17 00:40:00,021][root][INFO] - initializing, .... +[2026-09-17 00:40:07,294][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.14 Hz +[2026-09-17 00:40:10,026][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.94 Hz +[2026-09-17 00:40:17,298][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.56 Hz +[2026-09-17 00:40:20,031][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.51 Hz +[2026-09-17 00:40:25,103][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.09 iterations per second over 30.00 seconds. +[2026-09-17 00:40:25,103][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 36 times, mean step_time: 0.003982 s, max step_time: 0.068196 s +[2026-09-17 00:40:26,769][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] +[2026-09-17 00:40:26,769][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] +[2026-09-17 00:40:27,299][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.98 Hz +[2026-09-17 00:40:27,946][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.52 iterations per second over 30.00 seconds. +[2026-09-17 00:40:27,946][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.004040 s, max step_time: 0.060715 s +[2026-09-17 00:40:30,033][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.93 Hz +[2026-09-17 00:40:37,302][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.13 Hz +[2026-09-17 00:40:40,034][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.89 Hz +[2026-09-17 00:40:47,304][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.74 Hz +[2026-09-17 00:40:50,034][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.96 Hz +[2026-09-17 00:40:55,105][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.95 iterations per second over 30.00 seconds. +[2026-09-17 00:40:55,105][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: 0.025722 s +[2026-09-17 00:40:57,307][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.66 Hz +[2026-09-17 00:40:57,946][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.96 iterations per second over 30.00 seconds. +[2026-09-17 00:40:57,946][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003938 s, max step_time: 0.009954 s +[2026-09-17 00:41:00,039][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.70 Hz +[2026-09-17 00:41:07,311][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.84 Hz +[2026-09-17 00:41:09,380][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] +[2026-09-17 00:41:09,380][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] +[2026-09-17 00:41:10,041][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.14 Hz +[2026-09-17 00:41:17,312][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 +[2026-09-17 00:41:20,043][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.17 Hz +[2026-09-17 00:41:25,106][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.46 iterations per second over 30.00 seconds. +[2026-09-17 00:41:25,106][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003930 s, max step_time: 0.030663 s +[2026-09-17 00:41:27,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.21 Hz +[2026-09-17 00:41:27,946][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.50 iterations per second over 30.00 seconds. +[2026-09-17 00:41:27,947][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003914 s, max step_time: 0.030517 s +[2026-09-17 00:41:30,044][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.36 Hz +[2026-09-17 00:41:37,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.70 Hz +[2026-09-17 00:41:40,047][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.63 Hz +[2026-09-17 00:41:47,322][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.62 Hz +[2026-09-17 00:41:50,049][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.76 Hz +[2026-09-17 00:41:55,108][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.55 iterations per second over 30.00 seconds. +[2026-09-17 00:41:55,108][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003928 s, max step_time: 0.016872 s +[2026-09-17 00:41:57,324][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.24 Hz +[2026-09-17 00:41:57,948][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.05 iterations per second over 30.00 seconds. +[2026-09-17 00:41:57,949][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003921 s, max step_time: 0.025683 s +[2026-09-17 00:42:00,048][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.30 Hz +[2026-09-17 00:42:07,328][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.40 Hz +[2026-09-17 00:42:10,050][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.65 Hz +[2026-09-17 00:42:17,328][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.67 Hz +[2026-09-17 00:42:20,050][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.30 Hz +[2026-09-17 00:42:20,294][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.52 iterations per second over 22.35 seconds. +[2026-09-17 00:42:20,302][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.92 iterations per second over 25.19 seconds. +[2026-09-17 00:42:22,950][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 00:42:22,951][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 00:42:22,951][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 00:42:22,951][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 00:42:22,951][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 00:42:22,951][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 00:42:22,951][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 00:42:22,951][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 00:42:22,951][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 00:42:22,952][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 00:42:22,952][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 00:42:22,952][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 00:42:22,952][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 00:42:22,952][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 00:42:22,952][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 00:42:22,952][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} +[2026-09-17 00:42:22,953][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 +[2026-09-17 00:42:22,953][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 +[2026-09-17 00:42:22,953][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:42:22,953][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:42:22,953][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:42:22,953][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:42:22,953][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:42:22,953][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:42:22,953][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:42:22,953][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:42:22,953][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:42:22,953][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:42:22,953][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 00:42:22,953][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 +[2026-09-17 00:42:22,954][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:42:22,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:42:22,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 00:42:22,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:42:22,998][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:42:23,009][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:23,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:42:23,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:42:23,042][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:23,053][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:42:23,064][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:42:23,075][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:23,086][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:42:23,097][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:42:23,108][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:23,119][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:42:23,130][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:42:23,141][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:23,152][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:42:23,163][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:42:23,174][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:23,185][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:42:23,185][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 00:42:23,185][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 +[2026-09-17 00:42:23,186][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:42:23,241][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 +[2026-09-17 00:42:23,296][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 +[2026-09-17 00:42:23,351][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 +[2026-09-17 00:42:23,406][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 +[2026-09-17 00:42:23,462][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 +[2026-09-17 00:42:23,517][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 +[2026-09-17 00:42:23,572][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 +[2026-09-17 00:42:23,572][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) +[2026-09-17 00:42:23,572][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:42:23,572][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:42:23,583][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:42:23,588][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:42:23,594][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:42:23,600][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:42:23,606][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:42:23,612][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:42:23,618][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:42:23,624][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-17 00:42:23,624][root][INFO] - current_pos: [-0.04367895017929335, -0.0001907377737087046, 0.0017166399633783413, 0.008583199816891707, -0.06542305638208568, -0.06809338521400754, 0.7307164110780491] +[2026-09-17 00:42:23,624][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:42:23,624][root][INFO] - starting separate thread for control loop +[2026-09-17 00:42:23,725][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=-0.04367895017929335, voltage=-1, temp_mos=30.0, temp_rotor=27.0, timestamp=1789576943.7253819), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.0001907377737087046, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576943.7253819), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789576943.7253819), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.008583199816891707, voltage=-1, temp_mos=36.0, temp_rotor=41.0, timestamp=1789576943.7253819), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06542305638208568, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789576943.7253819), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.06809338521400754, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576943.7253819), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.7307164110780491, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789576943.7253819)] +[2026-09-17 00:42:23,725][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:42:23,725][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.7307 +[2026-09-17 00:42:23,725][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:42:24,353][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-17 00:42:24,654][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:42:25,275][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 +[2026-09-17 00:42:25,575][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.0066758220798082135) +[2026-09-17 00:42:25,575][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.00667582] +[2026-09-17 00:42:25,810][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 +[2026-09-17 00:42:25,810][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 +[2026-09-17 00:42:25,810][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:42:25,810][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:42:25,810][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:42:25,810][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:42:25,810][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:42:25,810][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:42:25,810][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:42:25,810][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:42:25,810][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:42:25,810][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:42:25,810][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 00:42:25,810][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 +[2026-09-17 00:42:25,811][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:42:25,811][root][INFO] - initializing, .... +[2026-09-17 00:42:25,821][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:42:25,832][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:25,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:42:25,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:42:25,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:25,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:42:25,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:42:25,897][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:25,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:42:25,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:42:25,929][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:25,940][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:42:25,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:42:25,961][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:25,972][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:42:25,983][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:42:25,994][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:26,005][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:42:26,016][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:42:26,026][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:42:26,037][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:42:26,037][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 00:42:26,037][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 +[2026-09-17 00:42:26,037][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:42:26,091][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 +[2026-09-17 00:42:26,145][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 +[2026-09-17 00:42:26,198][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 +[2026-09-17 00:42:26,252][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 +[2026-09-17 00:42:26,305][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 +[2026-09-17 00:42:26,359][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 +[2026-09-17 00:42:26,413][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 +[2026-09-17 00:42:26,413][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) +[2026-09-17 00:42:26,413][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:42:26,413][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:42:26,423][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:42:26,429][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:42:26,435][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:42:26,441][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:42:26,447][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:42:26,453][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:42:26,459][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:42:26,465][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-17 00:42:26,465][root][INFO] - current_pos: [0.004386968795300206, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, -0.02155336842908362, -0.13103685053788006, 0.006294346532387252] +[2026-09-17 00:42:26,465][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:42:26,465][root][INFO] - starting separate thread for control loop +[2026-09-17 00:42:26,565][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.04786324786324769, pos=0.004386968795300206, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789576946.565618), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1789576946.565618), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789576946.565618), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789576946.565618), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.02155336842908362, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789576946.565618), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.13103685053788006, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576946.565618), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.006294346532387252, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789576946.565618)] +[2026-09-17 00:42:26,565][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:42:26,565][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063 +[2026-09-17 00:42:26,565][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:42:27,180][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2535 +[2026-09-17 00:42:27,480][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:42:28,102][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 00:42:28,402][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.265697718776227, -0.010872053101396162) +[2026-09-17 00:42:28,402][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26569772 -0.01087205] +[2026-09-17 00:42:28,526][root][INFO] - initializing, .... +[2026-09-17 00:42:35,815][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.84 Hz +[2026-09-17 00:42:38,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.54 Hz +[2026-09-17 00:42:45,816][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.27 Hz +[2026-09-17 00:42:46,412][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] +[2026-09-17 00:42:46,412][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] +[2026-09-17 00:42:48,533][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.18 Hz +[2026-09-17 00:42:53,628][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.64 iterations per second over 30.00 seconds. +[2026-09-17 00:42:53,628][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.003927 s, max step_time: 0.063745 s +[2026-09-17 00:42:55,819][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.22 Hz +[2026-09-17 00:42:56,465][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.16 iterations per second over 30.00 seconds. +[2026-09-17 00:42:56,466][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003981 s, max step_time: 0.067132 s +[2026-09-17 00:42:58,533][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.10 Hz +[2026-09-17 00:43:05,823][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.31 Hz +[2026-09-17 00:43:08,536][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.64 Hz +[2026-09-17 00:43:15,783][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] +[2026-09-17 00:43:15,784][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] +[2026-09-17 00:43:15,825][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.86 Hz +[2026-09-17 00:43:18,537][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.77 Hz +[2026-09-17 00:43:23,630][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.15 iterations per second over 30.00 seconds. +[2026-09-17 00:43:23,630][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003998 s, max step_time: 0.017018 s +[2026-09-17 00:43:25,824][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.29 Hz +[2026-09-17 00:43:26,466][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.66 iterations per second over 30.00 seconds. +[2026-09-17 00:43:26,466][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 31 times, mean step_time: 0.004005 s, max step_time: 0.021408 s +[2026-09-17 00:43:28,539][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.22 Hz +[2026-09-17 00:43:35,828][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.23 Hz +[2026-09-17 00:43:38,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.77 Hz +[2026-09-17 00:43:45,828][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.17 Hz +[2026-09-17 00:43:48,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.09 Hz +[2026-09-17 00:43:53,633][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.84 iterations per second over 30.00 seconds. +[2026-09-17 00:43:53,634][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003955 s, max step_time: 0.008572 s +[2026-09-17 00:43:55,832][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.42 Hz +[2026-09-17 00:43:56,469][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.60 iterations per second over 30.00 seconds. +[2026-09-17 00:43:56,470][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003990 s, max step_time: 0.008341 s +[2026-09-17 00:43:57,789][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] +[2026-09-17 00:43:57,789][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] +[2026-09-17 00:43:58,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.16 Hz +[2026-09-17 00:44:05,834][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.35 Hz +[2026-09-17 00:44:08,545][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.75 Hz +[2026-09-17 00:44:15,836][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.95 Hz +[2026-09-17 00:44:18,546][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.67 Hz +[2026-09-17 00:44:23,635][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.79 iterations per second over 30.00 seconds. +[2026-09-17 00:44:23,635][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003864 s, max step_time: 0.033233 s +[2026-09-17 00:44:25,837][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.47 Hz +[2026-09-17 00:44:26,472][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.91 iterations per second over 30.00 seconds. +[2026-09-17 00:44:26,472][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003847 s, max step_time: 0.024503 s +[2026-09-17 00:44:28,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.77 Hz +[2026-09-17 00:44:35,839][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.84 Hz +[2026-09-17 00:44:38,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.98 Hz +[2026-09-17 00:44:45,842][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.94 Hz +[2026-09-17 00:44:48,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.28 Hz +[2026-09-17 00:44:53,635][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.70 iterations per second over 30.00 seconds. +[2026-09-17 00:44:55,846][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.72 Hz +[2026-09-17 00:44:56,474][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.99 iterations per second over 30.00 seconds. +[2026-09-17 00:44:56,474][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003876 s, max step_time: 0.007056 s +[2026-09-17 00:44:58,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.71 Hz +[2026-09-17 00:45:04,831][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.79 iterations per second over 8.36 seconds. +[2026-09-17 00:45:04,841][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.06 iterations per second over 11.21 seconds. diff --git a/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/rounds.json b/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..e2620b823c816b898bbfee97cdb4f1bc97724539 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/catch_and_place/metadata/rounds.json @@ -0,0 +1,193 @@ +{ 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"camera.base_0_rgb": 204, + "camera.left_wrist_0_rgb": 203, + "camera.right_wrist_0_rgb": 204, + "dropped": 0, + "event.workflow": 1, + "items": 1619, + "robot.robot_state": 818 + }, + "episode_dir": "outputs/openpi_rollout/seven_tasks_5000/flip_bread/data/round_0004", + "failure": "", + "incomplete_robot_samples": { + "left": 818, + "right": 818 + }, + "metadata": { + "round_number": 4, + "run_id": "20260916_191324_411846_round_0004", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 818, + "right": 818 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789557500.4090407 + } +} diff --git a/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0004/manifests/tactile.json b/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0004/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0004/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0004/workflow_manifest.json b/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0004/workflow_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4a84e9fcdd4687181c0e9bb8aba1883a182636fe --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0004/workflow_manifest.json @@ -0,0 +1,1503 @@ +{ + "acceleration_limits": [ + 118.7426430016755, + 165.012131490699, + 134.04180689399348, + 274.86399842805685, + 195.25766555964873, + 454.5340796113012, + 109.40927818565227, + 178.49339036295515, + 476.6444930964641, + 557.9080874526715, + 587.1810202100611, + 362.1711802492357, + 208.8803265352197, + 208.9010343469399 + ], + "actions_sent": 189, + "async_execution": { + "blend_steps": 5, + 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a/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0013/manifests/robot.json b/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0013/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..ea105ad3937619af4ddbe57fe1d0d4f16acecc6f --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0013/manifests/robot.json @@ -0,0 +1,36 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 1064, + "camera.base_0_rgb": 1102, + "camera.left_wrist_0_rgb": 1101, + "camera.right_wrist_0_rgb": 1101, + "dropped": 0, + "event.workflow": 1, + "items": 8775, + "robot.robot_state": 4406 + }, + "episode_dir": "outputs/openpi_rollout/seven_tasks_5000/flip_bread/data/round_0013", + "failure": "", + "incomplete_robot_samples": { + "left": 4406, + "right": 4406 + }, + "metadata": { + "round_number": 13, + "run_id": "20260916_192738_784582_round_0013", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 4406, + "right": 4406 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789558336.1108646 + } +} diff --git a/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0013/manifests/tactile.json b/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0013/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0013/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0013/workflow_manifest.json b/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0013/workflow_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..12c5a29d782ca242e6a78412ed4b7c9d1a02d820 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/flip_bread/data/round_0013/workflow_manifest.json @@ -0,0 +1,1503 @@ +{ + 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"error": "RuntimeError: async overlap exhausted before the next prediction was ready", + "failure_traceback": "Traceback (most recent call last):\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 391, in run_from_config\n call_cancellable(lambda: execute_async_round(\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 68, in call_cancellable\n raise value\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 52, in work\n result.put((True, fn()))\n ^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/openpi_rollout.py\", line 391, in \n call_cancellable(lambda: execute_async_round(\n ^^^^^^^^^^^^^^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/async_action_execution.py\", line 186, in execute_async_round\n candidate = blend_overlap(plan, candidate, blend)\n 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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/V2/pi0.5_5000/flip_bread/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6836410cbba2b2f36980e1f8e734d744218ed432 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/flip_bread/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/seven_tasks_5000/flip_bread + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the right arm to grasp the handle of the small frying pan and flip the + bread into the large frying pan on the right. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c414b65131e3b7afada0ef81224445c4fd31ec75 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Use the right arm to grasp the handle of the small frying pan + and flip the bread into the large frying pan on the right." + - run.output_dir=outputs/openpi_rollout/seven_tasks_5000/flip_bread + 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 grasp the handle of the small frying pan and flip the bread + into the large frying pan on the right.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/seven_tasks_5000/flip_bread,run.steps=40 + id: ??? + num: ??? + config_name: openpi_seven_tasks_5000 + 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/seven_tasks_5000/flip_bread/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b94a35eff861f20276149711d3815b603fc9bc3 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/flip_bread/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 grasp the handle of the small frying pan and + flip the bread into the large frying pan on the right." +- run.output_dir=outputs/openpi_rollout/seven_tasks_5000/flip_bread diff --git a/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..b6932a1a2eb01f9f8fa7cd9dcbd075423e196584 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/hydra/openpi_rollout.log @@ -0,0 +1,1053 @@ +[2026-09-16 19:13:24,740][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 19:13:24,741][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 19:13:24,741][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 19:13:24,742][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 19:13:24,742][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 19:13:24,742][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 19:13:24,742][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 19:13:24,742][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 19:13:24,742][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 19:13:24,743][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 19:13:24,743][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 19:13:24,743][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 19:13:24,743][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 19:13:24,743][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 19:13:24,743][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 19:13:24,743][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-16 19:13:24,743][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 19:13:24,743][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 19:13:24,744][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 19:13:24,744][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 19:13:24,744][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 19:13:24,744][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 19:13:24,744][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 19:13:24,744][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 19:13:24,744][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 19:13:24,744][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 19:13:24,744][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 19:13:24,744][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 19:13:24,744][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 19:13:24,744][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:13:24,745][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:13:24,757][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 19:13:24,768][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 19:13:24,779][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:13:24,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 19:13:24,801][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:24,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:13:24,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 19:13:24,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:24,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:13:24,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 19:13:24,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:24,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:13:24,890][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 19:13:24,901][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:24,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:13:24,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 19:13:24,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:24,946][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:13:24,957][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 19:13:24,968][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:24,979][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:13:24,980][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-16 19:13:24,980][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:13:24,980][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:13:25,035][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:13:25,089][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:13:25,143][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:13:25,197][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:13:25,251][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:13:25,305][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:13:25,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:13:25,359][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) +[2026-09-16 19:13:25,359][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:13:25,359][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 19:13:25,370][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 19:13:25,375][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 19:13:25,382][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 19:13:25,388][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 19:13:25,394][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 19:13:25,400][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 19:13:25,406][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 19:13:25,412][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 19:13:25,412][root][INFO] - current_pos: [-0.032234683756771076, -0.0001907377737087046, 0.0017166399633783413, 0.000953688868543523, 0.005531395437552433, -0.0040054932478827965, 0.02193484397650103] +[2026-09-16 19:13:25,412][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 19:13:25,412][root][INFO] - starting separate thread for control loop +[2026-09-16 19:13:25,513][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=-0.032234683756771076, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557205.5130904), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.0005722133211296665, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557205.5130904), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557205.5130904), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557205.5130904), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.005531395437552433, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789557205.5130904), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0040054932478827965, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1789557205.5130904), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.022316319523918438, voltage=-1, temp_mos=26.0, temp_rotor=23.0, timestamp=1789557205.5130904)] +[2026-09-16 19:13:25,513][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 19:13:25,513][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-16 19:13:25,513][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 19:13:26,135][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 19:13:26,435][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 19:13:27,066][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 19:13:27,366][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.305752651255055, -0.007057297627218517) +[2026-09-16 19:13:27,367][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.30575265 -0.0070573 ] +[2026-09-16 19:13:27,595][root][INFO] - initializing, .... +[2026-09-16 19:13:27,596][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 19:13:27,596][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 19:13:27,596][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 19:13:27,596][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 19:13:27,596][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 19:13:27,596][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 19:13:27,596][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 19:13:27,597][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 19:13:27,597][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 19:13:27,597][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 19:13:27,597][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 19:13:27,597][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 19:13:27,597][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 19:13:27,597][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:13:27,597][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:13:27,608][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 19:13:27,619][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:27,630][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:13:27,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 19:13:27,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:27,662][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:13:27,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 19:13:27,684][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:27,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:13:27,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 19:13:27,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:27,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:13:27,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 19:13:27,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:27,759][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:13:27,769][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 19:13:27,780][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:27,791][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:13:27,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 19:13:27,812][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:13:27,823][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:13:27,823][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 19:13:27,823][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:13:27,823][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:13:27,877][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:13:27,931][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:13:27,984][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:13:28,037][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:13:28,091][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:13:28,145][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:13:28,198][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:13:28,198][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 19:13:28,198][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:13:28,199][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 19:13:28,209][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 19:13:28,214][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 19:13:28,220][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 19:13:28,226][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 19:13:28,232][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 19:13:28,238][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 19:13:28,244][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 19:13:28,250][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 19:13:28,250][root][INFO] - current_pos: [-0.008583199816891707, -0.0020981155107957505, 0.0005722133211261138, 0.000953688868543523, -0.0413900968947889, 0.08335240711070391, 0.4781795986877242] +[2026-09-16 19:13:28,250][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 19:13:28,308][root][INFO] - starting separate thread for control loop +[2026-09-16 19:13:28,409][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=-0.008583199816891707, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557208.4091532), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557208.4091532), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557208.4091532), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557208.4091532), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.0413900968947889, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789557208.4091532), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.08335240711070391, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557208.4091532), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.4781795986877242, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557208.4091532)] +[2026-09-16 19:13:28,409][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 19:13:28,409][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.4782 +[2026-09-16 19:13:28,409][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 19:13:29,031][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 19:13:29,331][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 19:13:29,953][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0101 +[2026-09-16 19:13:30,254][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2519645990692005, -0.010109102006561344) +[2026-09-16 19:13:30,254][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2519646 -0.0101091] +[2026-09-16 19:13:30,381][root][INFO] - initializing, .... +[2026-09-16 19:13:37,601][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.27 Hz +[2026-09-16 19:13:40,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.12 Hz +[2026-09-16 19:13:47,601][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.34 Hz +[2026-09-16 19:13:50,390][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.80 Hz +[2026-09-16 19:13:55,416][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.90 iterations per second over 30.00 seconds. +[2026-09-16 19:13:55,416][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003938 s, max step_time: 0.074484 s +[2026-09-16 19:13:57,603][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.75 Hz +[2026-09-16 19:13:58,311][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.64 iterations per second over 30.00 seconds. +[2026-09-16 19:13:58,311][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003989 s, max step_time: 0.069345 s +[2026-09-16 19:14:00,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.59 Hz +[2026-09-16 19:14:07,606][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.52 Hz +[2026-09-16 19:14:10,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.81 Hz +[2026-09-16 19:14:17,608][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.87 Hz +[2026-09-16 19:14:20,396][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.65 Hz +[2026-09-16 19:14:25,418][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.65 iterations per second over 30.00 seconds. +[2026-09-16 19:14:25,418][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003927 s, max step_time: 0.034880 s +[2026-09-16 19:14:27,610][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.05 Hz +[2026-09-16 19:14:28,314][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.37 iterations per second over 30.00 seconds. +[2026-09-16 19:14:28,314][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003916 s, max step_time: 0.043263 s +[2026-09-16 19:14:30,399][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.61 Hz +[2026-09-16 19:14:37,611][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.08 Hz +[2026-09-16 19:14:40,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.73 Hz +[2026-09-16 19:14:47,613][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.64 Hz +[2026-09-16 19:14:50,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.47 Hz +[2026-09-16 19:14:55,418][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.90 iterations per second over 30.00 seconds. +[2026-09-16 19:14:55,418][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003923 s, max step_time: 0.010816 s +[2026-09-16 19:14:57,613][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.00 Hz +[2026-09-16 19:14:58,315][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.83 iterations per second over 30.00 seconds. +[2026-09-16 19:14:58,315][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003940 s, max step_time: 0.010336 s +[2026-09-16 19:15:00,408][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.00 Hz +[2026-09-16 19:15:07,615][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.25 Hz +[2026-09-16 19:15:10,412][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.12 Hz +[2026-09-16 19:15:17,616][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.88 Hz +[2026-09-16 19:15:20,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.04 Hz +[2026-09-16 19:15:25,419][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.60 iterations per second over 30.00 seconds. +[2026-09-16 19:15:25,419][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003990 s, max step_time: 0.031113 s +[2026-09-16 19:15:27,619][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.35 Hz +[2026-09-16 19:15:28,318][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.84 iterations per second over 30.00 seconds. +[2026-09-16 19:15:28,318][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003987 s, max step_time: 0.050782 s +[2026-09-16 19:15:30,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.28 Hz +[2026-09-16 19:15:37,622][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.40 Hz +[2026-09-16 19:15:40,415][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.46 Hz +[2026-09-16 19:15:47,622][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.77 Hz +[2026-09-16 19:15:50,416][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.69 Hz +[2026-09-16 19:15:55,419][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.30 iterations per second over 30.00 seconds. +[2026-09-16 19:15:57,624][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.87 Hz +[2026-09-16 19:15:58,321][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.67 iterations per second over 30.00 seconds. +[2026-09-16 19:15:58,321][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003822 s, max step_time: 0.007160 s +[2026-09-16 19:16:00,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.56 Hz +[2026-09-16 19:16:00,742][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003825 s, max step_time: 0.014148 s +[2026-09-16 19:16:07,626][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.06 Hz +[2026-09-16 19:16:10,422][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.47 Hz +[2026-09-16 19:16:17,628][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.23 Hz +[2026-09-16 19:16:20,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.96 Hz +[2026-09-16 19:16:25,420][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.72 iterations per second over 30.00 seconds. +[2026-09-16 19:16:27,630][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.16 Hz +[2026-09-16 19:16:28,323][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.52 iterations per second over 30.00 seconds. +[2026-09-16 19:16:28,323][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003824 s, max step_time: 0.014178 s +[2026-09-16 19:16:30,427][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.22 Hz +[2026-09-16 19:16:30,743][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003820 s, max step_time: 0.009177 s +[2026-09-16 19:16:37,630][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.90 Hz +[2026-09-16 19:16:40,430][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.32 Hz +[2026-09-16 19:16:47,633][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.83 Hz +[2026-09-16 19:16:50,432][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.33 Hz +[2026-09-16 19:16:55,422][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.28 iterations per second over 30.00 seconds. +[2026-09-16 19:16:57,634][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.75 Hz +[2026-09-16 19:16:58,325][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.61 iterations per second over 30.00 seconds. +[2026-09-16 19:17:00,435][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.64 Hz +[2026-09-16 19:17:01,350][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003815 s, max step_time: 0.010100 s +[2026-09-16 19:17:01,350][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003823 s, max step_time: 0.009416 s +[2026-09-16 19:17:07,636][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.08 Hz +[2026-09-16 19:17:10,438][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.23 Hz +[2026-09-16 19:17:17,642][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.59 Hz +[2026-09-16 19:17:20,439][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.35 Hz +[2026-09-16 19:17:25,426][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.04 iterations per second over 30.00 seconds. +[2026-09-16 19:17:27,643][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.32 Hz +[2026-09-16 19:17:28,328][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.15 iterations per second over 30.00 seconds. +[2026-09-16 19:17:30,440][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.57 Hz +[2026-09-16 19:17:31,351][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.004032 s, max step_time: 0.016553 s +[2026-09-16 19:17:31,352][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004037 s, max step_time: 0.014541 s +[2026-09-16 19:17:37,647][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.13 Hz +[2026-09-16 19:17:40,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.06 Hz +[2026-09-16 19:17:47,648][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.44 Hz +[2026-09-16 19:17:50,446][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.50 Hz +[2026-09-16 19:17:55,427][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.29 iterations per second over 30.00 seconds. +[2026-09-16 19:17:57,651][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.56 Hz +[2026-09-16 19:17:58,331][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.11 iterations per second over 30.00 seconds. +[2026-09-16 19:18:00,450][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.01 Hz +[2026-09-16 19:18:01,353][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003895 s, max step_time: 0.051450 s +[2026-09-16 19:18:01,353][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003905 s, max step_time: 0.035693 s +[2026-09-16 19:18:07,654][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.61 Hz +[2026-09-16 19:18:10,453][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.21 Hz +[2026-09-16 19:18:17,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.64 Hz +[2026-09-16 19:18:20,456][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.92 Hz +[2026-09-16 19:18:25,427][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.93 iterations per second over 30.00 seconds. +[2026-09-16 19:18:27,659][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.91 Hz +[2026-09-16 19:18:28,332][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.63 iterations per second over 30.00 seconds. +[2026-09-16 19:18:30,458][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.26 Hz +[2026-09-16 19:18:31,356][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003866 s, max step_time: 0.014444 s +[2026-09-16 19:18:31,356][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003862 s, max step_time: 0.014366 s +[2026-09-16 19:18:37,661][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.86 Hz +[2026-09-16 19:18:40,459][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.49 Hz +[2026-09-16 19:18:47,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.17 Hz +[2026-09-16 19:18:50,462][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.92 Hz +[2026-09-16 19:18:55,429][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.12 iterations per second over 30.00 seconds. +[2026-09-16 19:18:57,665][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.50 Hz +[2026-09-16 19:18:58,335][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.84 iterations per second over 30.00 seconds. +[2026-09-16 19:19:00,464][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.93 Hz +[2026-09-16 19:19:01,359][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003859 s, max step_time: 0.009161 s +[2026-09-16 19:19:01,359][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003869 s, max step_time: 0.010497 s +[2026-09-16 19:19:07,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.58 Hz +[2026-09-16 19:19:10,467][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.94 Hz +[2026-09-16 19:19:17,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.88 Hz +[2026-09-16 19:19:20,468][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.17 Hz +[2026-09-16 19:19:25,429][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.57 iterations per second over 30.00 seconds. +[2026-09-16 19:19:27,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.69 Hz +[2026-09-16 19:19:28,336][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.69 iterations per second over 30.00 seconds. +[2026-09-16 19:19:30,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.92 Hz +[2026-09-16 19:19:31,360][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003862 s, max step_time: 0.013427 s +[2026-09-16 19:19:31,361][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003852 s, max step_time: 0.011993 s +[2026-09-16 19:19:37,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.69 Hz +[2026-09-16 19:19:40,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.79 Hz +[2026-09-16 19:19:47,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.17 Hz +[2026-09-16 19:19:50,472][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.16 Hz +[2026-09-16 19:19:55,429][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.53 iterations per second over 30.00 seconds. +[2026-09-16 19:19:57,670][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.86 Hz +[2026-09-16 19:19:58,339][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.84 iterations per second over 30.00 seconds. +[2026-09-16 19:20:00,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.93 Hz +[2026-09-16 19:20:01,362][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003851 s, max step_time: 0.009707 s +[2026-09-16 19:20:01,364][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003846 s, max step_time: 0.011242 s +[2026-09-16 19:20:07,673][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.34 Hz +[2026-09-16 19:20:10,478][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.64 Hz +[2026-09-16 19:20:17,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.87 Hz +[2026-09-16 19:20:20,480][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.14 Hz +[2026-09-16 19:20:25,432][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.08 iterations per second over 30.00 seconds. +[2026-09-16 19:20:27,676][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.56 Hz +[2026-09-16 19:20:28,341][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.95 iterations per second over 30.00 seconds. +[2026-09-16 19:20:30,481][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.46 Hz +[2026-09-16 19:20:31,364][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003848 s, max step_time: 0.011540 s +[2026-09-16 19:20:31,367][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.003840 s, max step_time: 0.009713 s +[2026-09-16 19:20:37,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.81 Hz +[2026-09-16 19:20:40,483][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.97 Hz +[2026-09-16 19:20:47,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.04 Hz +[2026-09-16 19:20:50,484][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.28 Hz +[2026-09-16 19:20:55,434][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.25 iterations per second over 30.00 seconds. +[2026-09-16 19:20:57,682][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.57 Hz +[2026-09-16 19:20:58,342][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.99 iterations per second over 30.00 seconds. +[2026-09-16 19:21:00,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.98 Hz +[2026-09-16 19:21:01,367][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003880 s, max step_time: 0.013260 s +[2026-09-16 19:21:01,367][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.003870 s, max step_time: 0.009768 s +[2026-09-16 19:21:07,683][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.38 Hz +[2026-09-16 19:21:10,488][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.40 Hz +[2026-09-16 19:21:17,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.76 Hz +[2026-09-16 19:21:20,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.46 Hz +[2026-09-16 19:21:25,435][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.79 iterations per second over 30.00 seconds. +[2026-09-16 19:21:27,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.30 Hz +[2026-09-16 19:21:28,343][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.96 iterations per second over 30.00 seconds. +[2026-09-16 19:21:30,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.87 Hz +[2026-09-16 19:21:31,368][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003842 s, max step_time: 0.011419 s +[2026-09-16 19:21:31,370][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.003827 s, max step_time: 0.009030 s +[2026-09-16 19:21:33,692][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.95 iterations per second over 5.35 seconds. +[2026-09-16 19:21:33,698][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.52 iterations per second over 8.26 seconds. +[2026-09-16 19:21:48,656][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 19:21:48,657][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 19:21:48,657][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 19:21:48,657][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 19:21:48,657][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 19:21:48,657][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 19:21:48,657][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 19:21:48,658][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 19:21:48,658][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 19:21:48,659][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 19:21:48,659][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 19:21:48,659][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 19:21:48,659][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 19:21:48,659][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 19:21:48,659][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 19:21:48,659][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 19:21:48,659][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 19:21:48,659][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 19:21:48,659][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 19:21:48,659][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:21:48,661][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:21:48,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 19:21:48,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 19:21:48,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:21:48,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 19:21:48,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:48,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:21:48,738][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 19:21:48,749][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:48,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:21:48,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 19:21:48,781][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:48,792][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:21:48,803][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 19:21:48,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:48,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:21:48,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 19:21:48,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:48,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:21:48,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 19:21:48,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:48,889][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:21:48,890][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 19:21:48,890][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:21:48,890][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:21:48,944][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:21:48,998][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:21:49,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:21:49,107][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:21:49,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:21:49,214][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:21:49,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:21:49,268][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) +[2026-09-16 19:21:49,268][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:21:49,268][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 19:21:49,279][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 19:21:49,284][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 19:21:49,291][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 19:21:49,297][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 19:21:49,303][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 19:21:49,309][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 19:21:49,315][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 19:21:49,321][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 19:21:49,321][root][INFO] - current_pos: [-0.032234683756771076, -0.0001907377737087046, 0.0017166399633783413, 0.000953688868543523, 0.005531395437552433, -0.0040054932478827965, 0.02574959945067512] +[2026-09-16 19:21:49,321][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 19:21:49,321][root][INFO] - starting separate thread for control loop +[2026-09-16 19:21:49,421][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.03418803418803407, pos=-0.032234683756771076, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557709.421612), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789557709.421612), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=27.0, temp_rotor=30.0, timestamp=1789557709.421612), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=32.0, timestamp=1789557709.421612), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.005531395437552433, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789557709.421612), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.0040054932478827965, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789557709.421612), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.02574959945067512, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789557709.421612)] +[2026-09-16 19:21:49,421][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 19:21:49,421][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0257 +[2026-09-16 19:21:49,421][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 19:21:50,040][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 19:21:50,340][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 19:21:50,959][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 19:21:51,259][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.310330357824064, -0.00705729762722207) +[2026-09-16 19:21:51,260][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.31033036 -0.0070573 ] +[2026-09-16 19:21:51,491][root][INFO] - initializing, .... +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 19:21:51,492][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 19:21:51,492][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 19:21:51,492][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 19:21:51,492][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:21:51,492][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:21:51,504][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 19:21:51,515][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:51,526][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:21:51,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 19:21:51,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:51,559][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:21:51,570][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 19:21:51,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:51,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:21:51,602][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 19:21:51,613][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:51,624][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:21:51,635][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 19:21:51,646][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:51,656][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:21:51,667][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 19:21:51,678][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:51,689][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:21:51,700][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 19:21:51,711][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:21:51,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:21:51,722][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 19:21:51,722][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:21:51,722][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:21:51,776][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:21:51,830][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:21:51,883][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:21:51,938][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:21:51,992][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:21:52,046][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:21:52,100][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:21:52,101][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 19:21:52,101][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:21:52,101][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 19:21:52,112][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 19:21:52,117][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 19:21:52,123][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 19:21:52,129][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 19:21:52,135][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 19:21:52,141][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 19:21:52,147][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 19:21:52,153][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, 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)] +[2026-09-16 19:21:52,153][root][INFO] - current_pos: [0.012779430838483208, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, -0.0413900968947889, 0.03414206149385812, 2.0136186770428015] +[2026-09-16 19:21:52,153][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 19:21:52,153][root][INFO] - starting separate thread for control loop +[2026-09-16 19:21:52,254][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.013160906385900617, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789557712.2539427), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789557712.2539427), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=27.0, timestamp=1789557712.2539427), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=31.0, timestamp=1789557712.2539427), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0413900968947889, voltage=-1, temp_mos=26.0, temp_rotor=26.0, timestamp=1789557712.2539427), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.03414206149385812, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789557712.2539427), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=2.0136186770428015, voltage=-1, temp_mos=25.0, temp_rotor=24.0, timestamp=1789557712.2539427)] +[2026-09-16 19:21:52,254][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 19:21:52,254][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 2.0136 +[2026-09-16 19:21:52,254][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 19:21:52,818][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 19:21:53,118][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 19:21:53,778][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0101 +[2026-09-16 19:21:54,078][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255779354543375, -0.04825665674830226) +[2026-09-16 19:21:54,078][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25577935 -0.04825666] +[2026-09-16 19:21:54,198][root][INFO] - initializing, .... +[2026-09-16 19:22:01,497][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.54 Hz +[2026-09-16 19:22:04,201][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.20 Hz +[2026-09-16 19:22:11,502][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.70 Hz +[2026-09-16 19:22:14,204][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.00 Hz +[2026-09-16 19:22:19,326][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.33 iterations per second over 30.00 seconds. +[2026-09-16 19:22:19,327][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003947 s, max step_time: 0.067714 s +[2026-09-16 19:22:21,504][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.24 Hz +[2026-09-16 19:22:22,155][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.32 iterations per second over 30.00 seconds. +[2026-09-16 19:22:22,166][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003996 s, max step_time: 0.068017 s +[2026-09-16 19:22:24,205][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.18 Hz +[2026-09-16 19:22:31,506][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.94 Hz +[2026-09-16 19:22:34,206][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.96 Hz +[2026-09-16 19:22:41,509][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.62 Hz +[2026-09-16 19:22:44,209][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.54 Hz +[2026-09-16 19:22:49,329][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.97 iterations per second over 30.00 seconds. +[2026-09-16 19:22:49,329][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003907 s, max step_time: 0.028635 s +[2026-09-16 19:22:51,512][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.61 Hz +[2026-09-16 19:22:52,158][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.91 iterations per second over 30.00 seconds. +[2026-09-16 19:22:52,169][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003891 s, max step_time: 0.038013 s +[2026-09-16 19:22:54,210][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.26 Hz +[2026-09-16 19:23:01,513][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.08 Hz +[2026-09-16 19:23:04,211][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.35 Hz +[2026-09-16 19:23:11,514][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.86 Hz +[2026-09-16 19:23:14,213][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.25 Hz +[2026-09-16 19:23:19,332][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.24 iterations per second over 30.00 seconds. +[2026-09-16 19:23:19,334][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003934 s, max step_time: 0.009763 s +[2026-09-16 19:23:21,517][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.64 Hz +[2026-09-16 19:23:22,158][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.30 iterations per second over 30.00 seconds. +[2026-09-16 19:23:22,169][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003948 s, max step_time: 0.009794 s +[2026-09-16 19:23:24,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.19 Hz +[2026-09-16 19:23:31,520][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.06 Hz +[2026-09-16 19:23:34,216][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.54 Hz +[2026-09-16 19:23:41,518][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.90 Hz +[2026-09-16 19:23:44,218][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.08 Hz +[2026-09-16 19:23:49,334][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.85 iterations per second over 30.00 seconds. +[2026-09-16 19:23:49,337][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003986 s, max step_time: 0.028453 s +[2026-09-16 19:23:51,520][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.68 Hz +[2026-09-16 19:23:52,158][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.96 iterations per second over 30.00 seconds. +[2026-09-16 19:23:52,170][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003985 s, max step_time: 0.028191 s +[2026-09-16 19:23:54,221][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.10 Hz +[2026-09-16 19:24:01,521][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.45 Hz +[2026-09-16 19:24:04,222][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.67 Hz +[2026-09-16 19:24:11,524][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.33 Hz +[2026-09-16 19:24:14,225][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.81 Hz +[2026-09-16 19:24:19,336][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.88 iterations per second over 30.00 seconds. +[2026-09-16 19:24:19,340][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003848 s, max step_time: 0.009420 s +[2026-09-16 19:24:21,526][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.87 Hz +[2026-09-16 19:24:22,160][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.92 iterations per second over 30.00 seconds. +[2026-09-16 19:24:22,171][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003847 s, max step_time: 0.010815 s +[2026-09-16 19:24:24,226][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.08 Hz +[2026-09-16 19:24:31,529][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.80 Hz +[2026-09-16 19:24:34,229][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.74 Hz +[2026-09-16 19:24:41,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.04 Hz +[2026-09-16 19:24:44,233][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.01 Hz +[2026-09-16 19:24:49,337][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.83 iterations per second over 30.00 seconds. +[2026-09-16 19:24:49,341][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.004051 s, max step_time: 0.008917 s +[2026-09-16 19:24:51,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.40 Hz +[2026-09-16 19:24:52,160][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.03 iterations per second over 30.00 seconds. +[2026-09-16 19:24:52,172][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004048 s, max step_time: 0.009220 s +[2026-09-16 19:24:54,234][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.28 Hz +[2026-09-16 19:25:01,533][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.98 Hz +[2026-09-16 19:25:04,235][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.45 Hz +[2026-09-16 19:25:11,534][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.47 Hz +[2026-09-16 19:25:14,239][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.88 Hz +[2026-09-16 19:25:19,338][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.86 iterations per second over 30.00 seconds. +[2026-09-16 19:25:19,342][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003955 s, max step_time: 0.027853 s +[2026-09-16 19:25:21,538][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.82 Hz +[2026-09-16 19:25:22,161][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.30 iterations per second over 30.00 seconds. +[2026-09-16 19:25:22,172][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003964 s, max step_time: 0.031854 s +[2026-09-16 19:25:24,242][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.84 Hz +[2026-09-16 19:25:31,539][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.25 Hz +[2026-09-16 19:25:34,243][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.56 Hz +[2026-09-16 19:25:41,539][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.60 Hz +[2026-09-16 19:25:44,246][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.23 Hz +[2026-09-16 19:25:49,341][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.41 iterations per second over 30.00 seconds. +[2026-09-16 19:25:49,344][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004042 s, max step_time: 0.011015 s +[2026-09-16 19:25:51,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.92 Hz +[2026-09-16 19:25:52,161][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.43 iterations per second over 30.00 seconds. +[2026-09-16 19:25:52,174][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: 0.009289 s +[2026-09-16 19:25:54,318][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.43 Hz +[2026-09-16 19:26:01,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.70 Hz +[2026-09-16 19:26:04,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.43 Hz +[2026-09-16 19:26:11,544][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.57 Hz +[2026-09-16 19:26:14,288][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 +[2026-09-16 19:26:19,341][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.07 iterations per second over 30.00 seconds. +[2026-09-16 19:26:19,345][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003860 s, max step_time: 0.075234 s +[2026-09-16 19:26:21,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.12 Hz +[2026-09-16 19:26:22,162][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.36 iterations per second over 30.00 seconds. +[2026-09-16 19:26:22,178][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003856 s, max step_time: 0.069160 s +[2026-09-16 19:26:24,289][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.97 Hz +[2026-09-16 19:26:31,551][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.52 Hz +[2026-09-16 19:26:34,289][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.99 Hz +[2026-09-16 19:26:41,551][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.18 Hz +[2026-09-16 19:26:44,292][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.33 Hz +[2026-09-16 19:26:49,342][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.82 iterations per second over 30.00 seconds. +[2026-09-16 19:26:49,347][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003894 s, max step_time: 0.027087 s +[2026-09-16 19:26:51,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.05 Hz +[2026-09-16 19:26:52,166][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.84 iterations per second over 30.00 seconds. +[2026-09-16 19:26:52,181][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003878 s, max step_time: 0.026885 s +[2026-09-16 19:26:54,293][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.46 Hz +[2026-09-16 19:27:01,554][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.76 Hz +[2026-09-16 19:27:04,297][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.01 Hz +[2026-09-16 19:27:11,555][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.88 Hz +[2026-09-16 19:27:14,299][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.92 Hz +[2026-09-16 19:27:19,343][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.39 iterations per second over 30.00 seconds. +[2026-09-16 19:27:19,348][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003685 s, max step_time: 0.008673 s +[2026-09-16 19:27:21,555][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.08 Hz +[2026-09-16 19:27:22,168][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.54 iterations per second over 30.00 seconds. +[2026-09-16 19:27:22,183][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003696 s, max step_time: 0.009215 s +[2026-09-16 19:27:24,302][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 272.33 Hz +[2026-09-16 19:27:29,777][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 273.38 iterations per second over 7.61 seconds. +[2026-09-16 19:27:29,782][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 273.40 iterations per second over 10.44 seconds. +[2026-09-16 19:27:39,121][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 19:27:39,122][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 19:27:39,122][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 19:27:39,122][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 19:27:39,122][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 19:27:39,123][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 19:27:39,123][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 19:27:39,123][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 19:27:39,123][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 19:27:39,124][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 19:27:39,124][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 19:27:39,124][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 19:27:39,124][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 19:27:39,124][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 19:27:39,124][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 19:27:39,124][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-16 19:27:39,124][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 19:27:39,124][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 19:27:39,124][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 19:27:39,125][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 19:27:39,125][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 19:27:39,125][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 19:27:39,125][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 19:27:39,125][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 19:27:39,125][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 19:27:39,125][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 19:27:39,125][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 19:27:39,125][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 19:27:39,125][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 19:27:39,125][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:27:39,126][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:27:39,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 19:27:39,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 19:27:39,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:27:39,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 19:27:39,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:39,192][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:27:39,204][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 19:27:39,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:39,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:27:39,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 19:27:39,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:39,259][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:27:39,270][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 19:27:39,281][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:39,292][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:27:39,303][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 19:27:39,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:39,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:27:39,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 19:27:39,346][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:39,356][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:27:39,356][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 19:27:39,356][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:27:39,357][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:27:39,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:27:39,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:27:39,518][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:27:39,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:27:39,625][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:27:39,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:27:39,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:27:39,733][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) +[2026-09-16 19:27:39,733][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:27:39,733][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 19:27:39,744][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 19:27:39,750][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 19:27:39,756][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 19:27:39,762][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 19:27:39,768][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 19:27:39,774][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 19:27:39,780][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 19:27:39,786][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 19:27:39,786][root][INFO] - current_pos: [-0.032234683756771076, -0.000953688868543523, 0.0017166399633783413, 0.000953688868543523, 0.005531395437552433, -0.0040054932478827965, 0.02536812390325771] +[2026-09-16 19:27:39,786][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 19:27:39,786][root][INFO] - starting separate thread for control loop +[2026-09-16 19:27:39,886][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=-0.032234683756771076, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789558059.8867564), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789558059.8867564), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=28.0, temp_rotor=31.0, timestamp=1789558059.8867564), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1789558059.8867564), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.005531395437552433, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789558059.8867564), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0040054932478827965, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789558059.8867564), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.02536812390325771, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789558059.8867564)] +[2026-09-16 19:27:39,886][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 19:27:39,886][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0254 +[2026-09-16 19:27:39,887][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 19:27:40,513][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 19:27:40,813][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 19:27:41,441][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 19:27:41,741][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.00705729762722207) +[2026-09-16 19:27:41,742][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 19:27:41,974][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 +[2026-09-16 19:27:41,975][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 19:27:41,975][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 19:27:41,975][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 19:27:41,975][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 19:27:41,975][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 19:27:41,975][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 19:27:41,975][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 19:27:41,975][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 19:27:41,975][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 19:27:41,975][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 19:27:41,976][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 19:27:41,976][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 19:27:41,975][root][INFO] - initializing, .... +[2026-09-16 19:27:41,976][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:27:41,976][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:27:41,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 19:27:41,998][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:42,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:27:42,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 19:27:42,030][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:42,041][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:27:42,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 19:27:42,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:42,073][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:27:42,084][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 19:27:42,095][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:42,106][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:27:42,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 19:27:42,127][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:42,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:27:42,149][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 19:27:42,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:42,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:27:42,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 19:27:42,191][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:27:42,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:27:42,202][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 19:27:42,202][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:27:42,202][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:27:42,257][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:27:42,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:27:42,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:27:42,417][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:27:42,471][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:27:42,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:27:42,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:27:42,578][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 19:27:42,579][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:27:42,579][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 19:27:42,590][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 19:27:42,595][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 19:27:42,601][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 19:27:42,607][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 19:27:42,612][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 19:27:42,619][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 19:27:42,626][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 19:27:42,632][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, 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)] +[2026-09-16 19:27:42,632][root][INFO] - current_pos: [0.04825665674830226, -0.0013351644159609322, 0.000953688868543523, 0.0005722133211261138, -0.0005722133211261138, 0.03452353704127553, 0.13447013046463674] +[2026-09-16 19:27:42,632][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 19:27:42,632][root][INFO] - starting separate thread for control loop +[2026-09-16 19:27:42,733][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.04863813229571967, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789558062.7330604), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.07521367521367495, pos=-0.0009536888685399703, voltage=-1, temp_mos=26.0, temp_rotor=26.0, timestamp=1789558062.7330604), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.026862026862026767, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=28.0, timestamp=1789558062.7330604), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=33.0, timestamp=1789558062.7330604), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.00019073777370515188, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789558062.7330604), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.03452353704127553, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789558062.7330604), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.13447013046463674, voltage=-1, temp_mos=25.0, temp_rotor=25.0, timestamp=1789558062.7330604)] +[2026-09-16 19:27:42,733][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 19:27:42,733][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.1345 +[2026-09-16 19:27:42,733][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 19:27:43,397][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 19:27:43,697][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 19:27:44,320][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0101 +[2026-09-16 19:27:44,620][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2519645990692005, -0.01010910200655779) +[2026-09-16 19:27:44,621][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2519646 -0.0101091] +[2026-09-16 19:27:44,745][root][INFO] - initializing, .... +[2026-09-16 19:27:51,977][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.89 Hz +[2026-09-16 19:27:54,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.19 Hz +[2026-09-16 19:28:01,979][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.14 Hz +[2026-09-16 19:28:04,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.70 Hz +[2026-09-16 19:28:09,788][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.95 iterations per second over 30.00 seconds. +[2026-09-16 19:28:09,788][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003953 s, max step_time: 0.065352 s +[2026-09-16 19:28:11,980][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.50 Hz +[2026-09-16 19:28:12,634][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.72 iterations per second over 30.00 seconds. +[2026-09-16 19:28:12,634][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003988 s, max step_time: 0.070657 s +[2026-09-16 19:28:14,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.49 Hz +[2026-09-16 19:28:21,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.13 Hz +[2026-09-16 19:28:24,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.60 Hz +[2026-09-16 19:28:31,983][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.48 Hz +[2026-09-16 19:28:34,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.41 Hz +[2026-09-16 19:28:39,792][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.07 iterations per second over 30.00 seconds. +[2026-09-16 19:28:39,792][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003967 s, max step_time: 0.034676 s +[2026-09-16 19:28:41,985][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.36 Hz +[2026-09-16 19:28:42,635][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.23 iterations per second over 30.00 seconds. +[2026-09-16 19:28:42,635][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003949 s, max step_time: 0.044529 s +[2026-09-16 19:28:44,759][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.92 Hz +[2026-09-16 19:28:51,986][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.58 Hz +[2026-09-16 19:28:54,761][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.14 Hz +[2026-09-16 19:29:01,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.27 Hz +[2026-09-16 19:29:04,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.04 Hz +[2026-09-16 19:29:09,792][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.03 iterations per second over 30.00 seconds. +[2026-09-16 19:29:09,792][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003937 s, max step_time: 0.009007 s +[2026-09-16 19:29:11,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.10 Hz +[2026-09-16 19:29:12,636][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.92 iterations per second over 30.00 seconds. +[2026-09-16 19:29:12,637][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003954 s, max step_time: 0.011446 s +[2026-09-16 19:29:14,765][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.19 Hz +[2026-09-16 19:29:21,988][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.98 Hz +[2026-09-16 19:29:24,766][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.64 Hz +[2026-09-16 19:29:31,989][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.66 Hz +[2026-09-16 19:29:34,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.79 Hz +[2026-09-16 19:29:39,792][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.70 iterations per second over 30.00 seconds. +[2026-09-16 19:29:39,792][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.004005 s, max step_time: 0.038866 s +[2026-09-16 19:29:41,993][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.01 Hz +[2026-09-16 19:29:42,640][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.24 iterations per second over 30.00 seconds. +[2026-09-16 19:29:42,685][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003986 s, max step_time: 0.050200 s +[2026-09-16 19:29:44,770][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.13 Hz +[2026-09-16 19:29:51,994][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.17 Hz +[2026-09-16 19:29:54,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.19 Hz +[2026-09-16 19:30:01,996][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.15 Hz +[2026-09-16 19:30:04,770][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.10 Hz +[2026-09-16 19:30:09,794][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.82 iterations per second over 30.00 seconds. +[2026-09-16 19:30:12,000][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.72 Hz +[2026-09-16 19:30:12,644][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.00 iterations per second over 30.00 seconds. +[2026-09-16 19:30:14,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.49 Hz +[2026-09-16 19:30:22,001][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.73 Hz +[2026-09-16 19:30:22,206][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003815 s, max step_time: 0.011568 s +[2026-09-16 19:30:22,207][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003798 s, max step_time: 0.010191 s +[2026-09-16 19:30:24,773][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.15 Hz +[2026-09-16 19:30:32,005][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.61 Hz +[2026-09-16 19:30:34,775][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.12 Hz +[2026-09-16 19:30:39,796][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.45 iterations per second over 30.00 seconds. +[2026-09-16 19:30:42,008][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.45 Hz +[2026-09-16 19:30:42,644][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.36 iterations per second over 30.00 seconds. +[2026-09-16 19:30:44,775][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.48 Hz +[2026-09-16 19:30:52,010][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.02 Hz +[2026-09-16 19:30:52,209][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.004019 s, max step_time: 0.008913 s +[2026-09-16 19:30:52,209][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004015 s, max step_time: 0.008876 s +[2026-09-16 19:30:54,779][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.22 Hz +[2026-09-16 19:31:02,011][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.78 Hz +[2026-09-16 19:31:04,781][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.76 Hz +[2026-09-16 19:31:09,797][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.76 iterations per second over 30.00 seconds. +[2026-09-16 19:31:12,014][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.42 Hz +[2026-09-16 19:31:12,645][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.86 iterations per second over 30.00 seconds. +[2026-09-16 19:31:14,784][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.81 Hz +[2026-09-16 19:31:22,017][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.43 Hz +[2026-09-16 19:31:22,209][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003894 s, max step_time: 0.028816 s +[2026-09-16 19:31:22,211][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003897 s, max step_time: 0.038251 s +[2026-09-16 19:31:24,785][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.26 Hz +[2026-09-16 19:31:32,019][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 +[2026-09-16 19:31:34,789][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.21 Hz +[2026-09-16 19:31:39,799][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.75 iterations per second over 30.00 seconds. +[2026-09-16 19:31:42,023][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.10 Hz +[2026-09-16 19:31:42,647][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.62 iterations per second over 30.00 seconds. +[2026-09-16 19:31:44,792][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.03 Hz +[2026-09-16 19:31:52,025][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.98 Hz +[2026-09-16 19:31:52,209][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003889 s, max step_time: 0.010026 s +[2026-09-16 19:31:52,211][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003896 s, max step_time: 0.009772 s +[2026-09-16 19:31:54,796][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.49 Hz +[2026-09-16 19:32:02,026][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.36 Hz +[2026-09-16 19:32:04,799][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.85 Hz +[2026-09-16 19:32:09,802][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.21 iterations per second over 30.00 seconds. +[2026-09-16 19:32:12,026][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.88 Hz +[2026-09-16 19:32:12,649][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.31 iterations per second over 30.00 seconds. +[2026-09-16 19:32:14,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.65 Hz +[2026-09-16 19:32:22,028][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.28 Hz +[2026-09-16 19:32:22,210][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003966 s, max step_time: 0.054398 s +[2026-09-16 19:32:22,214][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003973 s, max step_time: 0.064841 s +[2026-09-16 19:32:24,803][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.32 Hz +[2026-09-16 19:32:32,030][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.75 Hz +[2026-09-16 19:32:34,807][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.28 Hz +[2026-09-16 19:32:39,805][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.21 iterations per second over 30.00 seconds. +[2026-09-16 19:32:42,031][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.35 Hz +[2026-09-16 19:32:42,649][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.40 iterations per second over 30.00 seconds. +[2026-09-16 19:32:44,807][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.93 Hz +[2026-09-16 19:32:52,032][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.68 Hz +[2026-09-16 19:32:52,210][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.003834 s, max step_time: 0.010691 s +[2026-09-16 19:32:52,215][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.003848 s, max step_time: 0.009139 s +[2026-09-16 19:32:54,810][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.52 Hz +[2026-09-16 19:33:02,033][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.56 Hz +[2026-09-16 19:33:04,811][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.70 Hz +[2026-09-16 19:33:09,806][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.63 iterations per second over 30.00 seconds. +[2026-09-16 19:33:12,037][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.32 Hz +[2026-09-16 19:33:12,653][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.77 iterations per second over 30.00 seconds. +[2026-09-16 19:33:14,811][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.86 Hz +[2026-09-16 19:33:22,039][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.06 Hz +[2026-09-16 19:33:22,211][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003836 s, max step_time: 0.010103 s +[2026-09-16 19:33:22,216][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 41 times, mean step_time: 0.003847 s, max step_time: 0.011468 s +[2026-09-16 19:33:23,420][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.35 iterations per second over 10.77 seconds. +[2026-09-16 19:33:23,422][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.75 iterations per second over 13.62 seconds. +[2026-09-16 19:33:31,905][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 19:33:31,906][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 19:33:31,907][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 19:33:31,907][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 19:33:31,907][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 19:33:31,907][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 19:33:31,907][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 19:33:31,907][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 19:33:31,907][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 19:33:31,908][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 19:33:31,908][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 19:33:31,908][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 19:33:31,908][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 19:33:31,908][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 19:33:31,908][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 19:33:31,908][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 19:33:31,909][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 19:33:31,909][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 19:33:31,909][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 19:33:31,909][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:33:31,910][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:33:31,922][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 19:33:31,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 19:33:31,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:33:31,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 19:33:31,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:31,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:33:31,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 19:33:31,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:32,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:33:32,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 19:33:32,030][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:32,041][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:33:32,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 19:33:32,063][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:32,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:33:32,085][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 19:33:32,096][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:32,107][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:33:32,118][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 19:33:32,129][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:32,140][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:33:32,140][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 19:33:32,140][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:33:32,141][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:33:32,194][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:33:32,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:33:32,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:33:32,356][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:33:32,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:33:32,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:33:32,518][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:33:32,518][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) +[2026-09-16 19:33:32,518][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:33:32,518][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 19:33:32,529][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 19:33:32,534][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 19:33:32,540][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 19:33:32,546][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 19:33:32,552][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 19:33:32,558][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 19:33:32,564][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 19:33:32,570][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=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 19:33:32,570][root][INFO] - current_pos: [-0.032234683756771076, -0.000953688868543523, 0.0017166399633783413, 0.000953688868543523, 0.005912870984969842, -0.004386968795300206, 0.020027466239413982] +[2026-09-16 19:33:32,570][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 19:33:32,570][root][INFO] - starting separate thread for control loop +[2026-09-16 19:33:32,671][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.032234683756771076, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789558412.67102), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789558412.67102), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=32.0, timestamp=1789558412.67102), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1789558412.67102), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.005912870984969842, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789558412.67102), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.004005493247879244, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789558412.67102), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.020027466239413982, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789558412.67102)] +[2026-09-16 19:33:32,671][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 19:33:32,671][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0200 +[2026-09-16 19:33:32,671][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 19:33:33,294][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 19:33:33,594][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 19:33:34,209][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 19:33:34,509][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.007057297627218517) +[2026-09-16 19:33:34,510][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 19:33:34,743][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 19:33:34,743][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 19:33:34,743][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 19:33:34,743][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:33:34,744][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:33:34,745][root][INFO] - initializing, .... +[2026-09-16 19:33:34,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 19:33:34,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:34,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:33:34,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 19:33:34,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:34,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:33:34,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 19:33:34,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:34,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 19:33:34,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 19:33:34,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:34,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:33:34,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 19:33:34,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:34,906][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:33:34,917][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 19:33:34,928][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:34,939][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:33:34,950][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 19:33:34,961][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 19:33:34,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 19:33:34,973][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 19:33:34,973][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 19:33:34,973][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:33:35,028][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:33:35,081][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:33:35,136][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 19:33:35,190][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:33:35,244][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:33:35,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:33:35,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 19:33:35,354][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 19:33:35,354][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 19:33:35,354][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 19:33:35,365][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 19:33:35,370][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 19:33:35,378][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 19:33:35,384][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 19:33:35,390][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 19:33:35,396][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 19:33:35,401][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 19:33:35,409][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 19:33:35,409][root][INFO] - current_pos: [-0.014305333028152845, -0.0013351644159609322, 0.000953688868543523, 0.000953688868543523, -0.04482337682154558, -0.04520485236896299, 0.6609063859006632] +[2026-09-16 19:33:35,409][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 19:33:35,409][root][INFO] - starting separate thread for control loop +[2026-09-16 19:33:35,509][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.014305333028152845, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789558415.509596), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.08888888888888857, pos=-0.0009536888685399703, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789558415.509596), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=29.0, timestamp=1789558415.509596), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789558415.509596), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.04482337682154558, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789558415.509596), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.04520485236896299, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789558415.509596), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.6612878614480806, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789558415.509596)] +[2026-09-16 19:33:35,509][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 19:33:35,509][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.6613 +[2026-09-16 19:33:35,509][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 19:33:36,125][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 19:33:36,425][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 19:33:37,036][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0101 +[2026-09-16 19:33:37,336][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2519645990692005, -0.01621271076523989) +[2026-09-16 19:33:37,336][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2519646 -0.01621271] +[2026-09-16 19:33:37,464][root][INFO] - initializing, .... +[2026-09-16 19:33:44,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.25 Hz +[2026-09-16 19:33:47,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.81 Hz +[2026-09-16 19:33:54,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.81 Hz +[2026-09-16 19:33:57,471][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.98 Hz +[2026-09-16 19:34:02,574][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.57 iterations per second over 30.00 seconds. +[2026-09-16 19:34:02,574][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003959 s, max step_time: 0.066287 s +[2026-09-16 19:34:04,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.79 Hz +[2026-09-16 19:34:05,409][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.90 iterations per second over 30.00 seconds. +[2026-09-16 19:34:05,410][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.004017 s, max step_time: 0.067543 s +[2026-09-16 19:34:07,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.65 Hz +[2026-09-16 19:34:14,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 239.58 Hz +[2026-09-16 19:34:17,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.26 Hz +[2026-09-16 19:34:24,759][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.23 Hz +[2026-09-16 19:34:27,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.49 Hz +[2026-09-16 19:34:32,577][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.98 iterations per second over 30.00 seconds. +[2026-09-16 19:34:32,577][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 37 times, mean step_time: 0.004000 s, max step_time: 0.034055 s +[2026-09-16 19:34:34,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.56 Hz +[2026-09-16 19:34:35,409][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.87 iterations per second over 30.00 seconds. +[2026-09-16 19:34:35,414][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003970 s, max step_time: 0.032975 s +[2026-09-16 19:34:37,478][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.93 Hz +[2026-09-16 19:34:44,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.82 Hz +[2026-09-16 19:34:47,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.19 Hz +[2026-09-16 19:34:54,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.32 Hz +[2026-09-16 19:34:57,485][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.22 Hz +[2026-09-16 19:35:02,579][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.88 iterations per second over 30.00 seconds. +[2026-09-16 19:35:02,579][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003923 s, max step_time: 0.009701 s +[2026-09-16 19:35:04,768][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 239.90 Hz +[2026-09-16 19:35:05,412][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.38 iterations per second over 30.00 seconds. +[2026-09-16 19:35:05,417][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003978 s, max step_time: 0.010579 s +[2026-09-16 19:35:07,486][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.48 Hz +[2026-09-16 19:35:14,770][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 239.12 Hz +[2026-09-16 19:35:17,486][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.00 Hz +[2026-09-16 19:35:24,772][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.36 Hz +[2026-09-16 19:35:27,490][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.00 Hz +[2026-09-16 19:35:32,582][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 240.67 iterations per second over 30.00 seconds. +[2026-09-16 19:35:32,582][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004155 s, max step_time: 0.014847 s +[2026-09-16 19:35:34,777][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 240.62 Hz +[2026-09-16 19:35:35,416][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 240.51 iterations per second over 30.00 seconds. +[2026-09-16 19:35:35,419][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 31 times, mean step_time: 0.004158 s, max step_time: 0.041539 s +[2026-09-16 19:35:37,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.89 Hz +[2026-09-16 19:35:44,063][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 263.91 iterations per second over 8.65 seconds. +[2026-09-16 19:35:44,069][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.68 iterations per second over 11.49 seconds. diff --git a/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/rounds.json b/eval/YAM/V2/pi0.5_5000/flip_bread/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..25ea93060b61c30bdcf25c757f1ad981f815b08c --- /dev/null +++ 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b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/data/round_0003/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/data/round_0003/workflow_manifest.json b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/data/round_0003/workflow_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..54024d51a838675ddffd20735e097f6aa808d820 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/data/round_0003/workflow_manifest.json @@ -0,0 +1,1512 @@ +{ + "acceleration_limits": [ + 118.7426430016755, + 165.012131490699, + 134.04180689399348, + 274.86399842805685, + 195.25766555964873, + 454.5340796113012, + 109.40927818565227, + 178.49339036295515, + 476.6444930964641, + 557.9080874526715, + 587.1810202100611, + 362.1711802492357, + 208.8803265352197, + 208.9010343469399 + ], + "actions_sent": 155, + "async_execution": { + "blend_steps": 5, + "chunk_counter_meaning": "completed groups of 30 acknowledged targets", + 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17.380879168510436, + 20.799341225624083, + 7.747032866477967, + 1.3316887146234513 + ] + }, + "position_limit_source": "sdk", + "position_limits": [ + [ + -2.7679899999999997, + 3.29159 + ], + [ + -0.15, + 3.81519 + ], + [ + -0.15, + 3.29159 + ], + [ + -1.84297, + 1.7207999999999999 + ], + [ + -1.7207999999999999, + 1.7207999999999999 + ], + [ + -2.2443999999999997, + 2.2443999999999997 + ], + [ + 0.0, + 0.096 + ], + [ + -2.7679899999999997, + 3.29159 + ], + [ + -0.15, + 3.81519 + ], + [ + -0.15, + 3.29159 + ], + [ + -1.84297, + 1.7207999999999999 + ], + [ + -1.7207999999999999, + 1.7207999999999999 + ], + [ + -2.2443999999999997, + 2.2443999999999997 + ], + [ + 0.0, + 0.096 + ] + ], + "recording": { + "episode_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0015", + "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": 337, + "camera.base_0_rgb": 358, + "camera.left_wrist_0_rgb": 358, + "camera.right_wrist_0_rgb": 358, + "dropped": 0, + "event.workflow": 1, + "items": 2844, + "robot.robot_state": 1432 + }, + "recording": false, + "recording_enabled": true + }, + "reviewed_at_ns": 1789577872665045606, + "round_number": 15, + "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/V2/pi0.5_5000/pick_and_place_bread/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4dc17bb6bed0458bc858551ec0933c53d06f5337 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/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/seven_tasks_5000/pick_and_place_bread + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Pick up the slice of bread from the large pan and place it in the small + pan. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d5ac906f115b7c467c45d1543b03a488282f7716 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/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="Pick up the slice of bread from the large pan and place it in + the small pan." + - run.output_dir=outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Pick + up the slice of bread from the large pan and place it in the small pan.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread,run.steps=40 + id: ??? + num: ??? + config_name: openpi_seven_tasks_5000 + 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/seven_tasks_5000/pick_and_place_bread/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cdd39e3f894636ce342b911221c182c1aa68e991 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/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="Pick up the slice of bread from the large pan and place it in the + small pan." +- run.output_dir=outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread diff --git a/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..458c0760564fa6aec43d5bbfd2b156a900696be2 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/hydra/openpi_rollout.log @@ -0,0 +1,619 @@ +[2026-09-17 00:51:38,006][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 00:51:38,007][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 00:51:38,007][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 00:51:38,008][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 00:51:38,008][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 00:51:38,008][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 00:51:38,008][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 00:51:38,008][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 00:51:38,008][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 00:51:38,009][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 00:51:38,009][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 00:51:38,009][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 00:51:38,009][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 00:51:38,009][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 00:51:38,009][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 00:51:38,009][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} +[2026-09-17 00:51:38,009][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 +[2026-09-17 00:51:38,010][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 +[2026-09-17 00:51:38,010][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:51:38,010][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:51:38,010][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:51:38,010][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:51:38,010][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:51:38,010][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:51:38,010][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:51:38,010][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:51:38,010][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:51:38,010][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:51:38,010][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 00:51:38,010][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 +[2026-09-17 00:51:38,011][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:51:38,023][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:51:38,034][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 00:51:38,045][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:51:38,056][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:51:38,067][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:38,078][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:51:38,089][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:51:38,100][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:38,111][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:51:38,121][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:51:38,132][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:38,143][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:51:38,153][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:51:38,164][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:38,175][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:51:38,186][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:51:38,196][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:38,207][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:51:38,218][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:51:38,229][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:38,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:51:38,239][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 00:51:38,239][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 +[2026-09-17 00:51:38,240][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:51:38,294][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 +[2026-09-17 00:51:38,348][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 +[2026-09-17 00:51:38,403][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 +[2026-09-17 00:51:38,456][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 +[2026-09-17 00:51:38,510][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 +[2026-09-17 00:51:38,564][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 +[2026-09-17 00:51:38,617][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 +[2026-09-17 00:51:38,617][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) +[2026-09-17 00:51:38,617][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:51:38,618][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:51:38,628][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:51:38,634][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:51:38,640][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:51:38,646][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:51:38,652][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:51:38,657][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:51:38,664][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:51:38,670][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=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 00:51:38,670][root][INFO] - current_pos: [0.0623712520027464, -0.0005722133211261138, 0.0017166399633783413, 0.000953688868543523, 0.007820248722056888, 0.05283436331731117, 0.0024795910582131597] +[2026-09-17 00:51:38,670][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:51:38,670][root][INFO] - starting separate thread for control loop +[2026-09-17 00:51:38,770][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=0.0623712520027464, voltage=-1, temp_mos=30.0, temp_rotor=27.0, timestamp=1789577498.7707434), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789577498.7707434), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=34.0, timestamp=1789577498.7707434), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=35.0, temp_rotor=34.0, timestamp=1789577498.7707434), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.007820248722056888, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789577498.7707434), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.05283436331731117, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789577498.7707434), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0024795910582131597, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789577498.7707434)] +[2026-09-17 00:51:38,770][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:51:38,771][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0025 +[2026-09-17 00:51:38,771][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:51:39,399][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-17 00:51:39,700][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:51:40,329][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 +[2026-09-17 00:51:40,629][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270275425345236, -0.0066758220798082135) +[2026-09-17 00:51:40,630][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27027543 -0.00667582] +[2026-09-17 00:51:40,872][root][INFO] - initializing, .... +[2026-09-17 00:51:40,872][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 +[2026-09-17 00:51:40,873][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 +[2026-09-17 00:51:40,873][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:51:40,873][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:51:40,873][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:51:40,873][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:51:40,873][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:51:40,873][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:51:40,873][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:51:40,873][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:51:40,873][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:51:40,873][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:51:40,873][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 00:51:40,873][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 +[2026-09-17 00:51:40,873][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:51:40,884][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:51:40,895][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:40,906][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:51:40,917][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:51:40,928][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:40,939][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:51:40,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:51:40,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:40,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:51:40,984][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:51:40,996][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:41,007][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:51:41,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:51:41,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:41,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:51:41,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:51:41,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:41,073][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:51:41,084][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:51:41,095][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:51:41,106][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:51:41,106][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 00:51:41,106][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 +[2026-09-17 00:51:41,107][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:51:41,161][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 +[2026-09-17 00:51:41,215][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 +[2026-09-17 00:51:41,268][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 +[2026-09-17 00:51:41,322][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 +[2026-09-17 00:51:41,376][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 +[2026-09-17 00:51:41,429][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 +[2026-09-17 00:51:41,483][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 +[2026-09-17 00:51:41,483][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) +[2026-09-17 00:51:41,483][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:51:41,483][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:51:41,494][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:51:41,499][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:51:41,506][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:51:41,512][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:51:41,518][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:51:41,524][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:51:41,529][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:51:41,535][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)] +[2026-09-17 00:51:41,536][root][INFO] - current_pos: [-0.07305256733043386, -0.0020981155107957505, 0.000953688868543523, 0.0036240177004653873, -0.06847486076142495, -0.02613107499809253, 0.35610742351415325] +[2026-09-17 00:51:41,536][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:51:41,536][root][INFO] - starting separate thread for control loop +[2026-09-17 00:51:41,636][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.03418803418803407, pos=-0.07305256733043386, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789577501.6364264), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789577501.6364264), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789577501.6364264), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0036240177004653873, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789577501.6364264), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06847486076142495, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789577501.6364264), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.02613107499809253, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789577501.6364264), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.35572594796673584, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789577501.6364264)] +[2026-09-17 00:51:41,636][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:51:41,636][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.3557 +[2026-09-17 00:51:41,636][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:51:42,318][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2535 +[2026-09-17 00:51:42,619][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:51:43,240][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 00:51:43,540][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25349050125887, -0.01277943083848676) +[2026-09-17 00:51:43,541][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2534905 -0.01277943] +[2026-09-17 00:51:43,669][root][INFO] - initializing, .... +[2026-09-17 00:51:50,876][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.78 Hz +[2026-09-17 00:51:53,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.15 Hz +[2026-09-17 00:51:54,733][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] +[2026-09-17 00:51:54,734][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] +[2026-09-17 00:52:00,876][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.19 Hz +[2026-09-17 00:52:03,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.34 Hz +[2026-09-17 00:52:08,673][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.94 iterations per second over 30.00 seconds. +[2026-09-17 00:52:08,673][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003876 s, max step_time: 0.072414 s +[2026-09-17 00:52:10,879][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.01 Hz +[2026-09-17 00:52:11,538][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.88 iterations per second over 30.00 seconds. +[2026-09-17 00:52:11,538][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003923 s, max step_time: 0.065670 s +[2026-09-17 00:52:13,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.47 Hz +[2026-09-17 00:52:17,610][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] +[2026-09-17 00:52:17,610][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] +[2026-09-17 00:52:20,883][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.21 Hz +[2026-09-17 00:52:23,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.82 Hz +[2026-09-17 00:52:30,885][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.95 Hz +[2026-09-17 00:52:33,683][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.72 Hz +[2026-09-17 00:52:38,676][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.08 iterations per second over 30.00 seconds. +[2026-09-17 00:52:38,676][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003936 s, max step_time: 0.013780 s +[2026-09-17 00:52:40,887][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.34 Hz +[2026-09-17 00:52:41,539][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.26 iterations per second over 30.00 seconds. +[2026-09-17 00:52:41,539][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003902 s, max step_time: 0.018948 s +[2026-09-17 00:52:43,685][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.12 Hz +[2026-09-17 00:52:50,890][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 +[2026-09-17 00:52:53,688][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.22 Hz +[2026-09-17 00:53:00,893][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.73 Hz +[2026-09-17 00:53:03,691][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.24 Hz +[2026-09-17 00:53:04,926][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.51 iterations per second over 23.39 seconds. +[2026-09-17 00:53:04,931][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.34 iterations per second over 26.26 seconds. +[2026-09-17 00:53:06,848][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 00:53:06,849][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 00:53:06,849][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 00:53:06,849][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 00:53:06,849][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 00:53:06,849][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 00:53:06,849][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 00:53:06,849][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 00:53:06,850][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 00:53:06,850][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 00:53:06,851][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 00:53:06,851][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 00:53:06,851][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 00:53:06,851][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 00:53:06,851][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 00:53:06,851][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} +[2026-09-17 00:53:06,851][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 +[2026-09-17 00:53:06,851][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 +[2026-09-17 00:53:06,851][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:53:06,851][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:53:06,851][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:53:06,851][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:53:06,851][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:53:06,851][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:53:06,851][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:53:06,851][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:53:06,851][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:53:06,851][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:53:06,851][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 00:53:06,851][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 +[2026-09-17 00:53:06,853][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:53:06,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:53:06,876][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 00:53:06,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:53:06,898][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:53:06,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:06,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:53:06,931][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:53:06,942][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:06,953][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:53:06,964][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:53:06,975][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:06,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:53:06,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:53:07,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:07,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:53:07,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:53:07,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:07,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:53:07,061][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:53:07,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:07,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:53:07,083][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 00:53:07,083][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 +[2026-09-17 00:53:07,083][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:53:07,137][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 +[2026-09-17 00:53:07,190][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 +[2026-09-17 00:53:07,244][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 +[2026-09-17 00:53:07,298][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 +[2026-09-17 00:53:07,352][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 +[2026-09-17 00:53:07,406][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 +[2026-09-17 00:53:07,460][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 +[2026-09-17 00:53:07,460][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) +[2026-09-17 00:53:07,460][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:53:07,461][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:53:07,471][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:53:07,476][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:53:07,483][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:53:07,489][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:53:07,495][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:53:07,501][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:53:07,507][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:53:07,513][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=0.012210012210012167, 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)] +[2026-09-17 00:53:07,513][root][INFO] - current_pos: [0.0623712520027464, -0.000953688868543523, 0.0017166399633783413, 0.000953688868543523, 0.008201724269474298, 0.04863813229571967, 0.022697795071335847] +[2026-09-17 00:53:07,513][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:53:07,513][root][INFO] - starting separate thread for control loop +[2026-09-17 00:53:07,614][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0623712520027464, voltage=-1, temp_mos=30.0, temp_rotor=27.0, timestamp=1789577587.6140687), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789577587.6140687), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.03418803418803407, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1789577587.6140687), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.012210012210012167, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=40.0, timestamp=1789577587.6140687), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.008201724269474298, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789577587.6140687), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.04863813229571967, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789577587.6140687), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.022697795071335847, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789577587.6140687)] +[2026-09-17 00:53:07,614][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:53:07,614][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-17 00:53:07,614][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:53:08,238][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-17 00:53:08,538][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:53:09,160][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 00:53:09,461][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.271801327534906, -0.007057297627218517) +[2026-09-17 00:53:09,461][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27180133 -0.0070573 ] +[2026-09-17 00:53:09,694][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 +[2026-09-17 00:53:09,694][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 +[2026-09-17 00:53:09,694][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:53:09,694][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:53:09,694][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:53:09,694][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:53:09,694][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:53:09,694][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:53:09,695][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:53:09,695][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:53:09,695][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:53:09,695][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:53:09,695][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 00:53:09,695][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 +[2026-09-17 00:53:09,695][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:53:09,696][root][INFO] - initializing, .... +[2026-09-17 00:53:09,706][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:53:09,717][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:09,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:53:09,738][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:53:09,749][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:09,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:53:09,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:53:09,781][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:09,792][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:53:09,803][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:53:09,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:09,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:53:09,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:53:09,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:09,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:53:09,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:53:09,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:09,889][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:53:09,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:53:09,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:53:09,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:53:09,921][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 00:53:09,921][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 +[2026-09-17 00:53:09,921][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:53:09,976][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 +[2026-09-17 00:53:10,030][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 +[2026-09-17 00:53:10,085][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 +[2026-09-17 00:53:10,139][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 +[2026-09-17 00:53:10,193][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 +[2026-09-17 00:53:10,246][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 +[2026-09-17 00:53:10,300][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 +[2026-09-17 00:53:10,300][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) +[2026-09-17 00:53:10,301][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:53:10,301][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:53:10,311][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:53:10,317][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:53:10,323][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:53:10,329][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:53:10,335][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:53:10,341][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:53:10,347][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:53:10,353][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 00:53:10,353][root][INFO] - current_pos: [0.000953688868543523, -0.0013351644159609322, 0.000953688868543523, 0.0005722133211261138, -0.023842221713588074, -0.051689936675058945, -0.000953688868543523] +[2026-09-17 00:53:10,353][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:53:10,353][root][INFO] - starting separate thread for control loop +[2026-09-17 00:53:10,453][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789577590.4536767), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789577590.4536767), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789577590.4536767), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789577590.4536767), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.023842221713588074, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789577590.4536767), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.051689936675058945, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789577590.4536767), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789577590.4536767)] +[2026-09-17 00:53:10,453][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:53:10,453][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-17 00:53:10,454][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:53:11,111][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2535 +[2026-09-17 00:53:11,411][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:53:12,024][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 00:53:12,324][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.281338216220341, -0.01087205310139261) +[2026-09-17 00:53:12,324][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28133822 -0.01087205] +[2026-09-17 00:53:12,451][root][INFO] - initializing, .... +[2026-09-17 00:53:19,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.46 Hz +[2026-09-17 00:53:22,454][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.49 Hz +[2026-09-17 00:53:25,144][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] +[2026-09-17 00:53:25,144][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] +[2026-09-17 00:53:29,700][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.55 Hz +[2026-09-17 00:53:32,456][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.34 Hz +[2026-09-17 00:53:37,514][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.89 iterations per second over 30.00 seconds. +[2026-09-17 00:53:37,515][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003923 s, max step_time: 0.063102 s +[2026-09-17 00:53:39,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.23 Hz +[2026-09-17 00:53:40,355][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.25 iterations per second over 30.00 seconds. +[2026-09-17 00:53:40,355][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003964 s, max step_time: 0.065411 s +[2026-09-17 00:53:42,456][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.10 Hz +[2026-09-17 00:53:49,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.69 Hz +[2026-09-17 00:53:51,308][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] +[2026-09-17 00:53:51,308][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] +[2026-09-17 00:53:52,460][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.30 Hz +[2026-09-17 00:53:59,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.38 Hz +[2026-09-17 00:54:02,465][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.68 Hz +[2026-09-17 00:54:07,518][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.57 iterations per second over 30.00 seconds. +[2026-09-17 00:54:07,518][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003959 s, max step_time: 0.016824 s +[2026-09-17 00:54:09,705][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.27 Hz +[2026-09-17 00:54:10,356][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.56 iterations per second over 30.00 seconds. +[2026-09-17 00:54:10,356][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003975 s, max step_time: 0.014594 s +[2026-09-17 00:54:12,466][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.99 Hz +[2026-09-17 00:54:14,962][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] +[2026-09-17 00:54:14,962][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] +[2026-09-17 00:54:19,708][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.04 Hz +[2026-09-17 00:54:22,466][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.98 Hz +[2026-09-17 00:54:29,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.66 Hz +[2026-09-17 00:54:32,468][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 +[2026-09-17 00:54:36,551][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] +[2026-09-17 00:54:36,551][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] +[2026-09-17 00:54:37,520][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.91 iterations per second over 30.00 seconds. +[2026-09-17 00:54:37,520][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003954 s, max step_time: 0.021422 s +[2026-09-17 00:54:39,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.69 Hz +[2026-09-17 00:54:40,356][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.87 iterations per second over 30.00 seconds. +[2026-09-17 00:54:40,357][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003955 s, max step_time: 0.023928 s +[2026-09-17 00:54:42,468][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.28 Hz +[2026-09-17 00:54:49,711][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.25 Hz +[2026-09-17 00:54:52,470][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.51 Hz +[2026-09-17 00:54:59,602][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:54:59,602][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:54:59,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.83 Hz +[2026-09-17 00:55:02,474][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.41 Hz +[2026-09-17 00:55:07,524][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.77 iterations per second over 30.00 seconds. +[2026-09-17 00:55:07,524][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003910 s, max step_time: 0.017890 s +[2026-09-17 00:55:09,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.95 Hz +[2026-09-17 00:55:10,361][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.69 iterations per second over 30.01 seconds. +[2026-09-17 00:55:10,362][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003926 s, max step_time: 0.016457 s +[2026-09-17 00:55:12,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.37 Hz +[2026-09-17 00:55:17,430][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] +[2026-09-17 00:55:17,430][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] +[2026-09-17 00:55:19,718][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.56 Hz +[2026-09-17 00:55:22,477][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.54 Hz +[2026-09-17 00:55:29,722][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.51 Hz +[2026-09-17 00:55:32,480][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 +[2026-09-17 00:55:37,528][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.07 iterations per second over 30.00 seconds. +[2026-09-17 00:55:37,528][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003952 s, max step_time: 0.019661 s +[2026-09-17 00:55:39,722][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.50 Hz +[2026-09-17 00:55:40,362][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.49 iterations per second over 30.00 seconds. +[2026-09-17 00:55:40,362][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003914 s, max step_time: 0.015890 s +[2026-09-17 00:55:42,481][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.81 Hz +[2026-09-17 00:55:49,725][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.51 Hz +[2026-09-17 00:55:52,481][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.30 Hz +[2026-09-17 00:55:59,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.82 Hz +[2026-09-17 00:55:59,748][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.73 iterations per second over 19.39 seconds. +[2026-09-17 00:55:59,794][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.38 iterations per second over 22.27 seconds. +[2026-09-17 00:56:02,684][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 00:56:02,685][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 00:56:02,685][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 00:56:02,685][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 00:56:02,685][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 00:56:02,685][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 00:56:02,685][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 00:56:02,685][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 00:56:02,685][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 00:56:02,686][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 00:56:02,686][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 00:56:02,686][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 00:56:02,686][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 00:56:02,686][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 00:56:02,686][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 00:56:02,686][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} +[2026-09-17 00:56:02,687][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 +[2026-09-17 00:56:02,687][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 +[2026-09-17 00:56:02,687][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:56:02,687][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:56:02,688][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:56:02,688][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:56:02,688][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:56:02,688][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:56:02,688][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:56:02,688][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:56:02,688][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:56:02,688][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:56:02,688][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 00:56:02,688][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 +[2026-09-17 00:56:02,689][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:56:02,700][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:56:02,711][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 00:56:02,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:56:02,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:56:02,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:02,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:56:02,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:56:02,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:02,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:56:02,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:56:02,810][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:02,821][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:56:02,832][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:56:02,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:02,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:56:02,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:56:02,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:02,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:56:02,897][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:56:02,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:02,919][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:56:02,919][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 00:56:02,919][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 +[2026-09-17 00:56:02,919][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:56:02,973][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 +[2026-09-17 00:56:03,027][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 +[2026-09-17 00:56:03,081][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 +[2026-09-17 00:56:03,136][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 +[2026-09-17 00:56:03,189][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 +[2026-09-17 00:56:03,244][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 +[2026-09-17 00:56:03,297][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 +[2026-09-17 00:56:03,297][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) +[2026-09-17 00:56:03,298][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:56:03,298][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:56:03,308][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:56:03,314][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:56:03,320][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:56:03,326][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:56:03,332][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:56:03,338][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:56:03,344][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:56:03,351][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 00:56:03,351][root][INFO] - current_pos: [-0.005149919890135024, -0.000953688868543523, 0.0017166399633783413, 0.000953688868543523, 0.008201724269474298, 0.04863813229571967, 0.022697795071335847] +[2026-09-17 00:56:03,351][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:56:03,351][root][INFO] - starting separate thread for control loop +[2026-09-17 00:56:03,451][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.03174603174603163, eff=-0.03418803418803407, pos=-0.004768444342714062, voltage=-1, temp_mos=30.0, temp_rotor=27.0, timestamp=1789577763.4516714), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789577763.4516714), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1789577763.4516714), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.0005722133211261138, voltage=-1, temp_mos=35.0, temp_rotor=42.0, timestamp=1789577763.4516714), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.008201724269474298, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789577763.4516714), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04863813229571967, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789577763.4516714), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.022697795071335847, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789577763.4516714)] +[2026-09-17 00:56:03,451][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:56:03,451][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-17 00:56:03,452][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:56:04,076][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-17 00:56:04,376][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:56:05,003][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 00:56:05,304][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.272945754177158, -0.007057297627218517) +[2026-09-17 00:56:05,304][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27294575 -0.0070573 ] +[2026-09-17 00:56:05,601][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 +[2026-09-17 00:56:05,601][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 +[2026-09-17 00:56:05,601][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 00:56:05,601][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 00:56:05,601][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 00:56:05,601][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 00:56:05,601][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 00:56:05,601][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 00:56:05,601][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 00:56:05,601][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 00:56:05,601][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 00:56:05,601][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 00:56:05,601][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 00:56:05,601][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 +[2026-09-17 00:56:05,601][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:56:05,602][root][INFO] - initializing, .... +[2026-09-17 00:56:05,612][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 00:56:05,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:05,634][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:56:05,645][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 00:56:05,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:05,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:56:05,677][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 00:56:05,688][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:05,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 00:56:05,709][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 00:56:05,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:05,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:56:05,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 00:56:05,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:05,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:56:05,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 00:56:05,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:05,795][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:56:05,806][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 00:56:05,817][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 00:56:05,828][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 00:56:05,828][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 00:56:05,828][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 +[2026-09-17 00:56:05,828][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:56:05,882][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 00:56:05,935][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 +[2026-09-17 00:56:05,990][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 +[2026-09-17 00:56:06,046][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 +[2026-09-17 00:56:06,101][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 +[2026-09-17 00:56:06,156][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 +[2026-09-17 00:56:06,211][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 +[2026-09-17 00:56:06,211][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) +[2026-09-17 00:56:06,211][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 00:56:06,212][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 00:56:06,223][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 00:56:06,228][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 00:56:06,234][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 00:56:06,240][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 00:56:06,246][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 00:56:06,253][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 00:56:06,258][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 00:56:06,265][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-17 00:56:06,265][root][INFO] - current_pos: [0.0165941863126573, -0.000953688868543523, 0.0005722133211261138, 0.0005722133211261138, 0.002861066605630569, 0.1283665217059582, 0.010490577553978753] +[2026-09-17 00:56:06,265][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 00:56:06,265][root][INFO] - starting separate thread for control loop +[2026-09-17 00:56:06,366][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.03418803418803407, pos=0.0165941863126573, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789577766.3661964), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=-0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1789577766.3661964), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789577766.3661964), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=35.0, temp_rotor=38.0, timestamp=1789577766.3661964), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.002861066605630569, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789577766.3661964), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.1283665217059582, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789577766.3661964), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=0.010490577553978753, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789577766.3661964)] +[2026-09-17 00:56:06,366][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 00:56:06,366][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0105 +[2026-09-17 00:56:06,366][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 00:56:07,036][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2535 +[2026-09-17 00:56:07,337][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 00:56:07,951][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 00:56:08,251][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.272945754177158, -0.010872053101396162) +[2026-09-17 00:56:08,251][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27294575 -0.01087205] +[2026-09-17 00:56:08,388][root][INFO] - initializing, .... +[2026-09-17 00:56:15,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.85 Hz +[2026-09-17 00:56:18,392][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.76 Hz +[2026-09-17 00:56:20,339][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] +[2026-09-17 00:56:20,339][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] +[2026-09-17 00:56:25,606][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.38 Hz +[2026-09-17 00:56:28,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.09 Hz +[2026-09-17 00:56:33,354][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.58 iterations per second over 30.00 seconds. +[2026-09-17 00:56:33,354][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003974 s, max step_time: 0.057450 s +[2026-09-17 00:56:35,607][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.88 Hz +[2026-09-17 00:56:36,266][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.73 iterations per second over 30.00 seconds. +[2026-09-17 00:56:36,266][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 38 times, mean step_time: 0.004020 s, max step_time: 0.061763 s +[2026-09-17 00:56:38,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.02 Hz +[2026-09-17 00:56:38,852][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] +[2026-09-17 00:56:38,852][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] +[2026-09-17 00:56:45,610][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.42 Hz +[2026-09-17 00:56:48,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.76 Hz +[2026-09-17 00:56:55,612][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.36 Hz +[2026-09-17 00:56:58,396][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.49 Hz +[2026-09-17 00:57:03,356][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.09 iterations per second over 30.00 seconds. +[2026-09-17 00:57:03,356][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003936 s, max step_time: 0.016339 s +[2026-09-17 00:57:04,017][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] +[2026-09-17 00:57:04,018][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] +[2026-09-17 00:57:05,614][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.76 Hz +[2026-09-17 00:57:06,269][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.34 iterations per second over 30.00 seconds. +[2026-09-17 00:57:06,269][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003932 s, max step_time: 0.021118 s +[2026-09-17 00:57:08,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.81 Hz +[2026-09-17 00:57:15,615][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.54 Hz +[2026-09-17 00:57:18,400][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.60 Hz +[2026-09-17 00:57:25,617][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.17 Hz +[2026-09-17 00:57:26,398][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] +[2026-09-17 00:57:26,398][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] +[2026-09-17 00:57:28,400][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.05 Hz +[2026-09-17 00:57:33,356][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.06 iterations per second over 30.00 seconds. +[2026-09-17 00:57:33,356][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003967 s, max step_time: 0.022182 s +[2026-09-17 00:57:35,620][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.32 Hz +[2026-09-17 00:57:36,273][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.67 iterations per second over 30.00 seconds. +[2026-09-17 00:57:36,273][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003958 s, max step_time: 0.022462 s +[2026-09-17 00:57:38,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.74 Hz +[2026-09-17 00:57:45,623][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.16 Hz +[2026-09-17 00:57:48,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.09 Hz +[2026-09-17 00:57:52,664][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] +[2026-09-17 00:57:52,664][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] +[2026-09-17 00:57:55,624][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.02 Hz +[2026-09-17 00:57:58,406][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.92 Hz +[2026-09-17 00:58:03,359][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.04 iterations per second over 30.00 seconds. +[2026-09-17 00:58:03,359][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003936 s, max step_time: 0.021144 s +[2026-09-17 00:58:05,627][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.87 Hz +[2026-09-17 00:58:06,276][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.64 iterations per second over 30.00 seconds. +[2026-09-17 00:58:06,276][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003943 s, max step_time: 0.017715 s +[2026-09-17 00:58:08,407][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.98 Hz +[2026-09-17 00:58:15,628][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.07 Hz +[2026-09-17 00:58:18,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.25 Hz +[2026-09-17 00:58:25,541][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.90 iterations per second over 19.27 seconds. +[2026-09-17 00:58:25,549][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.03 iterations per second over 22.19 seconds. diff --git a/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/rounds.json b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..b4583951ff706622d7d5b7e9837f35ad4e07aa88 --- /dev/null +++ b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/rounds.json @@ -0,0 +1,195 @@ +{ + "rounds": [ + { + "actions_sent": 285, + "chunks": 9, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0001", + "reviewed_at_ns": 1789577514736800777, + "round_number": 1, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 322, + "chunks": 10, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0002", + "reviewed_at_ns": 1789577537618004610, + "round_number": 2, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 155, + "chunks": 5, + "data_saved": true, + "operator_result": "failure", + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0003", + "reviewed_at_ns": 1789577554969131953, + "round_number": 3, + "status": "failed", + "task_success": false + }, + { + "actions_sent": 330, + "chunks": 11, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0004", + "reviewed_at_ns": 1789577605144259515, + "round_number": 4, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 282, + "chunks": 9, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0005", + "reviewed_at_ns": 1789577631311704851, + "round_number": 5, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 285, + "chunks": 9, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0006", + "reviewed_at_ns": 1789577654962289821, + "round_number": 6, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 313, + "chunks": 10, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0007", + "reviewed_at_ns": 1789577676558710903, + "round_number": 7, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 344, + "chunks": 11, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0008", + "reviewed_at_ns": 1789577699603149585, + "round_number": 8, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 278, + "chunks": 9, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0009", + "reviewed_at_ns": 1789577717430709797, + "round_number": 9, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 141, + "chunks": 4, + "data_saved": true, + "operator_result": "failure", + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0010", + "reviewed_at_ns": 1789577741423649701, + "round_number": 10, + "status": "failed", + "task_success": false + }, + { + "actions_sent": 310, + "chunks": 10, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0011", + "reviewed_at_ns": 1789577780343523269, + "round_number": 11, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 360, + "chunks": 12, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0012", + "reviewed_at_ns": 1789577798859941668, + "round_number": 12, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 332, + "chunks": 11, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0013", + "reviewed_at_ns": 1789577824021794905, + "round_number": 13, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 300, + "chunks": 10, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0014", + "reviewed_at_ns": 1789577846398517687, + "round_number": 14, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 337, + "chunks": 11, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/seven_tasks_5000/pick_and_place_bread/data/round_0015", + "reviewed_at_ns": 1789577872665045606, + "round_number": 15, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + } + ] +} diff --git a/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/runtime/output.lock b/eval/YAM/V2/pi0.5_5000/pick_and_place_bread/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391