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"sensor_name": "left_wrist_0", + "status": "saved", + "updated_at_unix": 1789656282.7651615 + }, + "prometheus_camera_right_wrist_0_recorder": { + "camera_frames": { + "right_wrist_0_rgb": 528 + }, + "camera_timestamp_samples": 528, + "complete_sensor_bundles": 528, + "counts": { + "action.executed": 504, + "camera.base_0_rgb": 529, + "camera.left_wrist_0_rgb": 529, + "camera.right_wrist_0_rgb": 528, + "dropped": 0, + "event.workflow": 1, + "items": 4205, + "robot.robot_state": 2114 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/flip_bread/data/round_0017", + "failure": "", + "metadata": { + "round_number": 17, + "run_id": "20260917_224326_960872_round_0017", + "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": 1789656282.7651615 + } +} diff --git a/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0017/manifests/event.json b/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0017/manifests/event.json new file mode 100644 index 0000000000000000000000000000000000000000..b436f57e2d233f34713046d0cfd7e0c41325d5e2 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0017/manifests/event.json @@ -0,0 +1,27 @@ +{ + "prometheus_event_recorder": { + "counts": { + "action.executed": 504, + "camera.base_0_rgb": 529, + "camera.left_wrist_0_rgb": 529, + "camera.right_wrist_0_rgb": 528, + "dropped": 0, + "event.workflow": 1, + "items": 4205, + "robot.robot_state": 2114 + }, + "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/flip_bread/data/round_0017", + "event_samples": 1, + "failure": "", + "metadata": { + "round_number": 17, + "run_id": "20260917_224326_960872_round_0017", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_event_recorder", + "record_mode": "event", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789656282.7651615 + } +} diff --git a/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0017/manifests/robot.json b/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0017/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..5469cd1f740b907a9710a445a753d5941e211950 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0017/manifests/robot.json @@ -0,0 +1,36 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 504, + "camera.base_0_rgb": 529, + "camera.left_wrist_0_rgb": 529, + "camera.right_wrist_0_rgb": 528, + "dropped": 0, + "event.workflow": 1, + "items": 4205, + "robot.robot_state": 2114 + }, + "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/flip_bread/data/round_0017", + "failure": "", + "incomplete_robot_samples": { + "left": 2114, + "right": 2114 + }, + "metadata": { + "round_number": 17, + "run_id": "20260917_224326_960872_round_0017", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 2114, + "right": 2114 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789656282.7651615 + } +} diff --git a/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0017/manifests/tactile.json b/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0017/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0017/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/pi0.5_2500/flip_bread/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/pi0.5_2500/flip_bread/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8d35abf0da1f8c0fa0b1364fa4cbc64e98bcd7f2 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/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_2500/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_2500/flip_bread/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0.5_2500/flip_bread/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..339324fdb16c32e0fa55b8c37f5239b7afbbdeac --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/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_2500/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_2500/flip_bread,run.steps=40 + id: ??? + num: ??? + config_name: openpi_seven_tasks_2500 + 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_2500/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_2500/flip_bread/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0.5_2500/flip_bread/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..867852e407ed5dcde66acd22abf09e1c7d0b58bb --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/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_2500/flip_bread diff --git a/eval/YAM/V2/pi0.5_2500/flip_bread/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0.5_2500/flip_bread/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..2e2fce018ec1d60a4b5a444808ee72c79295f934 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/flip_bread/metadata/hydra/openpi_rollout.log @@ -0,0 +1,1281 @@ +[2026-09-17 22:18:36,119][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 22:18:36,120][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 22:18:36,120][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 22:18:36,121][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 22:18:36,121][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 22:18:36,121][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 22:18:36,121][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 22:18:36,121][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 22:18:36,121][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 22:18:36,122][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 22:18:36,122][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 22:18:36,122][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 22:18:36,122][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 22:18:36,122][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 22:18:36,122][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 22:18:36,122][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 22:18:36,122][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 22:18:36,122][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 22:18:36,123][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:18:36,123][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:18:36,123][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:18:36,123][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:18:36,123][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:18:36,123][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:18:36,123][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:18:36,123][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:18:36,123][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:18:36,123][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:18:36,123][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 22:18:36,123][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 22:18:36,125][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:18:36,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:18:36,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 22:18:36,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:18:36,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:18:36,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:36,193][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:18:36,204][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:18:36,216][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:36,227][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:18:36,238][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:18:36,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:36,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:18:36,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:18:36,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:36,294][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:18:36,305][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:18:36,316][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:36,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:18:36,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:18:36,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:36,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:18:36,359][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-17 22:18:36,359][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 22:18:36,359][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:18:36,413][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 22:18:36,466][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 22:18:36,520][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 22:18:36,574][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 22:18:36,628][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 22:18:36,681][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 22:18:36,735][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 22:18:36,735][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 22:18:36,735][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:18:36,735][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:18:36,746][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:18:36,751][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:18:36,757][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:18:36,763][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:18:36,769][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:18:36,775][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:18:36,781][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:18:36,787][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, 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 22:18:36,787][root][INFO] - current_pos: [-0.024605172808422893, -0.0001907377737087046, 0.0013351644159609322, 0.000953688868543523, 0.02651255054550994, 0.12302586404211446, 0.019645990691996573] +[2026-09-17 22:18:36,787][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:18:36,787][root][INFO] - starting separate thread for control loop +[2026-09-17 22:18:36,888][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.024605172808422893, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789654716.8882716), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789654716.8882716), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789654716.8882716), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789654716.8882716), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.02651255054550994, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789654716.8882716), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.12302586404211446, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789654716.8882716), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.019645990691996573, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789654716.8882716)] +[2026-09-17 22:18:36,888][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:18:36,888][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0196 +[2026-09-17 22:18:36,888][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:18:37,565][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 22:18:37,865][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:18:38,495][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 +[2026-09-17 22:18:38,796][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.287823300526437, -0.0066758220798082135) +[2026-09-17 22:18:38,796][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2878233 -0.00667582] +[2026-09-17 22:18:39,038][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 22:18:39,038][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 22:18:39,038][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:18:39,038][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:18:39,038][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:18:39,038][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:18:39,038][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:18:39,038][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:18:39,038][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:18:39,038][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:18:39,038][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:18:39,038][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:18:39,038][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 22:18:39,038][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 22:18:39,038][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:18:39,040][root][INFO] - initializing, .... +[2026-09-17 22:18:39,050][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:18:39,061][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:39,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:18:39,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:18:39,093][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:39,104][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:18:39,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:18:39,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:39,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:18:39,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:18:39,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:39,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:18:39,180][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:18:39,191][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:39,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:18:39,213][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:18:39,223][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:39,234][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:18:39,245][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:18:39,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:18:39,267][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:18:39,267][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 22:18:39,267][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 22:18:39,267][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:18:39,321][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 22:18:39,374][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 22:18:39,428][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 22:18:39,481][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 22:18:39,535][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 22:18:39,588][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 22:18:39,642][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 22:18:39,642][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 22:18:39,643][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:18:39,643][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:18:39,653][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:18:39,658][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:18:39,664][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:18:39,671][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:18:39,676][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:18:39,683][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:18:39,689][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:18:39,695][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=-0.006837606837606813, 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)] +[2026-09-17 22:18:39,695][root][INFO] - current_pos: [0.0005722133211261138, 0.0013351644159609322, 0.000953688868543523, 0.0005722133211261138, -0.005149919890135024, -0.007438773174639479, 0.4076066224155035] +[2026-09-17 22:18:39,695][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:18:39,695][root][INFO] - starting separate thread for control loop +[2026-09-17 22:18:39,796][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=0.000953688868543523, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789654719.7962646), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789654719.7962646), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789654719.7962646), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789654719.7962646), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.005149919890135024, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789654719.7962646), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.007438773174639479, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789654719.7962646), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.4076066224155035, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789654719.7962646)] +[2026-09-17 22:18:39,796][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:18:39,796][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.4076 +[2026-09-17 22:18:39,796][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:18:40,425][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-17 22:18:40,725][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:18:41,346][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 22:18:41,646][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252727550164035, -0.011253528648817124) +[2026-09-17 22:18:41,647][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25272755 -0.01125353] +[2026-09-17 22:18:41,785][root][INFO] - initializing, .... +[2026-09-17 22:18:49,043][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.83 Hz +[2026-09-17 22:18:51,792][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.09 Hz +[2026-09-17 22:18:59,045][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.15 Hz +[2026-09-17 22:19:01,792][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.90 Hz +[2026-09-17 22:19:06,791][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.57 iterations per second over 30.00 seconds. +[2026-09-17 22:19:06,791][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.004006 s, max step_time: 0.068040 s +[2026-09-17 22:19:09,048][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.95 Hz +[2026-09-17 22:19:09,699][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.40 iterations per second over 30.00 seconds. +[2026-09-17 22:19:09,699][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004058 s, max step_time: 0.064464 s +[2026-09-17 22:19:11,792][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.70 Hz +[2026-09-17 22:19:19,050][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.43 Hz +[2026-09-17 22:19:21,797][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.79 Hz +[2026-09-17 22:19:29,054][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.23 Hz +[2026-09-17 22:19:31,798][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.35 Hz +[2026-09-17 22:19:36,794][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.11 iterations per second over 30.00 seconds. +[2026-09-17 22:19:36,796][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003983 s, max step_time: 0.033201 s +[2026-09-17 22:19:39,055][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.74 Hz +[2026-09-17 22:19:39,701][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.46 iterations per second over 30.00 seconds. +[2026-09-17 22:19:39,701][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003961 s, max step_time: 0.029884 s +[2026-09-17 22:19:41,806][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.19 Hz +[2026-09-17 22:19:49,059][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.39 Hz +[2026-09-17 22:19:51,803][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.59 Hz +[2026-09-17 22:19:59,059][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.20 Hz +[2026-09-17 22:20:01,806][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.44 Hz +[2026-09-17 22:20:02,948][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 22:20:02,948][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 22:20:06,795][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.79 iterations per second over 30.00 seconds. +[2026-09-17 22:20:09,062][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.82 Hz +[2026-09-17 22:20:09,702][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.85 iterations per second over 30.00 seconds. +[2026-09-17 22:20:11,807][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.97 Hz +[2026-09-17 22:20:15,774][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003819 s, max step_time: 0.007134 s +[2026-09-17 22:20:19,064][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.96 Hz +[2026-09-17 22:20:21,809][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.25 Hz +[2026-09-17 22:20:29,067][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.81 Hz +[2026-09-17 22:20:31,810][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.46 Hz +[2026-09-17 22:20:36,798][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.97 iterations per second over 30.00 seconds. +[2026-09-17 22:20:36,809][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003826 s, max step_time: 0.007060 s +[2026-09-17 22:20:39,070][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.03 Hz +[2026-09-17 22:20:39,704][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.15 iterations per second over 30.00 seconds. +[2026-09-17 22:20:41,812][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.25 Hz +[2026-09-17 22:20:45,775][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003850 s, max step_time: 0.007979 s +[2026-09-17 22:20:49,073][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.91 Hz +[2026-09-17 22:20:51,812][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.50 Hz +[2026-09-17 22:20:59,076][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.71 Hz +[2026-09-17 22:21:01,812][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.10 Hz +[2026-09-17 22:21:06,799][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.76 iterations per second over 30.00 seconds. +[2026-09-17 22:21:06,810][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003864 s, max step_time: 0.008535 s +[2026-09-17 22:21:09,077][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.28 Hz +[2026-09-17 22:21:09,704][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.23 iterations per second over 30.00 seconds. +[2026-09-17 22:21:11,813][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.68 Hz +[2026-09-17 22:21:15,776][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003908 s, max step_time: 0.008573 s +[2026-09-17 22:21:19,080][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 22:21:21,816][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.13 Hz +[2026-09-17 22:21:29,082][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.83 Hz +[2026-09-17 22:21:31,302][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 22:21:31,302][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 22:21:31,816][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.98 Hz +[2026-09-17 22:21:36,800][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.46 iterations per second over 30.00 seconds. +[2026-09-17 22:21:36,811][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004041 s, max step_time: 0.023707 s +[2026-09-17 22:21:39,084][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.73 Hz +[2026-09-17 22:21:39,705][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.16 iterations per second over 30.00 seconds. +[2026-09-17 22:21:41,820][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.31 Hz +[2026-09-17 22:21:45,777][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: 0.026717 s +[2026-09-17 22:21:49,087][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.35 Hz +[2026-09-17 22:21:51,822][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.17 Hz +[2026-09-17 22:21:59,090][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 +[2026-09-17 22:22:01,824][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.82 Hz +[2026-09-17 22:22:06,800][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.60 iterations per second over 30.00 seconds. +[2026-09-17 22:22:06,815][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003867 s, max step_time: 0.010170 s +[2026-09-17 22:22:09,092][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 +[2026-09-17 22:22:09,708][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.41 iterations per second over 30.00 seconds. +[2026-09-17 22:22:11,826][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.54 Hz +[2026-09-17 22:22:15,781][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003863 s, max step_time: 0.011377 s +[2026-09-17 22:22:19,095][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.84 Hz +[2026-09-17 22:22:21,827][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.57 Hz +[2026-09-17 22:22:29,098][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.58 Hz +[2026-09-17 22:22:31,829][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.49 Hz +[2026-09-17 22:22:36,803][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.64 iterations per second over 30.00 seconds. +[2026-09-17 22:22:36,816][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 36 times, mean step_time: 0.003808 s, max step_time: 0.009625 s +[2026-09-17 22:22:39,102][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 +[2026-09-17 22:22:39,714][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.24 iterations per second over 30.01 seconds. +[2026-09-17 22:22:41,830][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.85 Hz +[2026-09-17 22:22:45,782][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 61 times, mean step_time: 0.003861 s, max step_time: 0.011432 s +[2026-09-17 22:22:49,103][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.42 Hz +[2026-09-17 22:22:51,832][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.76 Hz +[2026-09-17 22:22:59,105][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.86 Hz +[2026-09-17 22:23:01,836][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.20 Hz +[2026-09-17 22:23:06,804][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.62 iterations per second over 30.00 seconds. +[2026-09-17 22:23:06,820][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 75 times, mean step_time: 0.003912 s, max step_time: 0.013409 s +[2026-09-17 22:23:09,108][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.01 Hz +[2026-09-17 22:23:09,717][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.61 iterations per second over 30.00 seconds. +[2026-09-17 22:23:11,838][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.45 Hz +[2026-09-17 22:23:15,786][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 49 times, mean step_time: 0.003884 s, max step_time: 0.010054 s +[2026-09-17 22:23:16,144][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.39 iterations per second over 6.43 seconds. +[2026-09-17 22:23:16,151][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.89 iterations per second over 9.35 seconds. +[2026-09-17 22:30:47,617][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 22:30:47,618][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 22:30:47,618][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 22:30:47,618][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 22:30:47,618][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 22:30:47,618][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 22:30:47,618][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 22:30:47,619][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 22:30:47,619][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 22:30:47,620][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 22:30:47,620][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 22:30:47,620][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 22:30:47,620][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 22:30:47,620][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 22:30:47,620][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 22:30:47,620][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 22:30:47,620][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 22:30:47,620][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 22:30:47,620][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:30:47,620][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:30:47,620][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:30:47,620][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:30:47,620][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:30:47,620][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:30:47,620][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:30:47,620][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:30:47,620][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:30:47,620][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:30:47,620][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 22:30:47,621][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 22:30:47,622][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:30:47,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:30:47,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 22:30:47,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:30:47,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:30:47,678][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:47,689][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:30:47,700][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:30:47,711][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:47,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:30:47,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:30:47,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:47,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:30:47,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:30:47,776][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:47,787][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:30:47,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:30:47,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:47,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:30:47,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:30:47,841][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:47,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:30:47,852][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 22:30:47,852][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 22:30:47,853][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:30:47,908][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 22:30:47,962][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 22:30:48,016][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 22:30:48,070][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 22:30:48,124][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 22:30:48,177][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 22:30:48,231][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 22:30:48,231][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 22:30:48,231][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:30:48,231][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:30:48,242][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:30:48,247][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:30:48,253][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:30:48,259][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:30:48,265][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:30:48,271][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:30:48,277][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:30:48,283][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 22:30:48,283][root][INFO] - current_pos: [-0.024605172808422893, -0.0001907377737087046, 0.0017166399633783413, 0.0005722133211261138, 0.019264515144579164, 0.12684061951628856, 0.022697795071335847] +[2026-09-17 22:30:48,283][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:30:48,283][root][INFO] - starting separate thread for control loop +[2026-09-17 22:30:48,384][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.024605172808422893, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789655448.3842654), 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=25.0, timestamp=1789655448.3842654), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789655448.3842654), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789655448.3842654), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.019264515144579164, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789655448.3842654), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.12684061951628856, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789655448.3842654), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022697795071335847, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789655448.3842654)] +[2026-09-17 22:30:48,384][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:30:48,384][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-17 22:30:48,384][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:30:49,012][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 22:30:49,312][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:30:49,944][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 22:30:50,244][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-17 22:30:50,244][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-17 22:30:50,479][root][INFO] - initializing, .... +[2026-09-17 22:30:50,535][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 22:30:50,535][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 22:30:50,536][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:30:50,536][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:30:50,536][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:30:50,536][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:30:50,536][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:30:50,536][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:30:50,536][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:30:50,536][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:30:50,536][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:30:50,536][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:30:50,536][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 22:30:50,536][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 22:30:50,536][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:30:50,547][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:30:50,558][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:50,569][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:30:50,580][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:30:50,590][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:50,601][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:30:50,612][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:30:50,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:50,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:30:50,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:30:50,655][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:50,665][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:30:50,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:30:50,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:50,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:30:50,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:30:50,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:50,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:30:50,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:30:50,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:30:50,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:30:50,762][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 22:30:50,762][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 22:30:50,762][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:30:50,816][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 22:30:50,869][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 22:30:50,924][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 22:30:50,977][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 22:30:51,031][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 22:30:51,084][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 22:30:51,138][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 22:30:51,138][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 22:30:51,138][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:30:51,138][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:30:51,149][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:30:51,154][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:30:51,161][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:30:51,166][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:30:51,172][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:30:51,179][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:30:51,186][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:30:51,191][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)] +[2026-09-17 22:30:51,191][root][INFO] - current_pos: [-0.02613107499809253, -0.0013351644159609322, 0.000953688868543523, 0.006675822079804661, -0.09021896696421727, 0.052071412222476354, 0.6696803234912636] +[2026-09-17 22:30:51,191][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:30:51,191][root][INFO] - starting separate thread for control loop +[2026-09-17 22:30:51,292][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.006837606837606813, pos=-0.02651255054551349, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789655451.2922313), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789655451.2922313), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789655451.2922313), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.006675822079804661, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789655451.2922313), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.09021896696421727, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789655451.2922313), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.052071412222476354, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789655451.2922313), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.6692988479438462, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789655451.2922313)] +[2026-09-17 22:30:51,292][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:30:51,292][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.6693 +[2026-09-17 22:30:51,292][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:30:51,913][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-17 22:30:52,213][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:30:52,839][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 22:30:53,140][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.010872053101396162) +[2026-09-17 22:30:53,140][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.01087205] +[2026-09-17 22:30:53,272][root][INFO] - initializing, .... +[2026-09-17 22:31:00,481][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.26 Hz +[2026-09-17 22:31:03,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.84 Hz +[2026-09-17 22:31:10,483][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.36 Hz +[2026-09-17 22:31:13,276][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.78 Hz +[2026-09-17 22:31:14,376][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 22:31:14,376][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 22:31:18,286][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.88 iterations per second over 30.00 seconds. +[2026-09-17 22:31:18,286][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.003970 s, max step_time: 0.066540 s +[2026-09-17 22:31:20,484][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.97 Hz +[2026-09-17 22:31:21,193][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.63 iterations per second over 30.00 seconds. +[2026-09-17 22:31:21,193][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.004022 s, max step_time: 0.065813 s +[2026-09-17 22:31:23,276][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.29 Hz +[2026-09-17 22:31:30,486][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.75 Hz +[2026-09-17 22:31:33,277][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 +[2026-09-17 22:31:40,489][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.81 Hz +[2026-09-17 22:31:43,277][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.20 Hz +[2026-09-17 22:31:48,289][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.74 iterations per second over 30.00 seconds. +[2026-09-17 22:31:48,289][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003880 s, max step_time: 0.007894 s +[2026-09-17 22:31:50,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.25 Hz +[2026-09-17 22:31:51,196][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.74 iterations per second over 30.00 seconds. +[2026-09-17 22:31:51,196][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003895 s, max step_time: 0.009797 s +[2026-09-17 22:31:53,279][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.95 Hz +[2026-09-17 22:32:00,495][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.62 Hz +[2026-09-17 22:32:01,565][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:32:01,565][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:32:03,281][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.46 Hz +[2026-09-17 22:32:10,495][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.09 Hz +[2026-09-17 22:32:13,282][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.38 Hz +[2026-09-17 22:32:18,291][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.18 iterations per second over 30.00 seconds. +[2026-09-17 22:32:18,291][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003904 s, max step_time: 0.024146 s +[2026-09-17 22:32:20,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.80 Hz +[2026-09-17 22:32:21,197][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.42 iterations per second over 30.00 seconds. +[2026-09-17 22:32:21,197][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003915 s, max step_time: 0.023326 s +[2026-09-17 22:32:23,284][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.43 Hz +[2026-09-17 22:32:30,499][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.29 Hz +[2026-09-17 22:32:33,284][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.59 Hz +[2026-09-17 22:32:36,042][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 22:32:36,042][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 22:32:40,500][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.86 Hz +[2026-09-17 22:32:43,287][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.64 Hz +[2026-09-17 22:32:48,295][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.27 iterations per second over 30.00 seconds. +[2026-09-17 22:32:48,295][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003996 s, max step_time: 0.015962 s +[2026-09-17 22:32:50,500][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.39 Hz +[2026-09-17 22:32:51,199][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.21 iterations per second over 30.00 seconds. +[2026-09-17 22:32:51,199][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003965 s, max step_time: 0.014951 s +[2026-09-17 22:32:53,292][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.89 Hz +[2026-09-17 22:33:00,503][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.14 Hz +[2026-09-17 22:33:03,295][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.84 Hz +[2026-09-17 22:33:10,505][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.27 Hz +[2026-09-17 22:33:13,298][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.03 Hz +[2026-09-17 22:33:13,300][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 22:33:13,300][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 22:33:18,295][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.46 iterations per second over 30.00 seconds. +[2026-09-17 22:33:18,295][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004025 s, max step_time: 0.024255 s +[2026-09-17 22:33:20,507][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.63 Hz +[2026-09-17 22:33:21,200][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.02 iterations per second over 30.00 seconds. +[2026-09-17 22:33:21,200][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004016 s, max step_time: 0.029101 s +[2026-09-17 22:33:23,297][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.37 Hz +[2026-09-17 22:33:30,510][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.42 Hz +[2026-09-17 22:33:33,299][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.47 Hz +[2026-09-17 22:33:40,513][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.12 Hz +[2026-09-17 22:33:43,301][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.63 Hz +[2026-09-17 22:33:48,298][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.64 iterations per second over 30.00 seconds. +[2026-09-17 22:33:50,516][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.33 Hz +[2026-09-17 22:33:51,201][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.86 iterations per second over 30.00 seconds. +[2026-09-17 22:33:53,304][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.23 Hz +[2026-09-17 22:33:57,487][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003800 s, max step_time: 0.010065 s +[2026-09-17 22:33:57,489][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003825 s, max step_time: 0.010389 s +[2026-09-17 22:34:00,518][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.26 Hz +[2026-09-17 22:34:03,307][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 +[2026-09-17 22:34:10,519][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 +[2026-09-17 22:34:13,309][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.87 Hz +[2026-09-17 22:34:18,300][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.88 iterations per second over 30.00 seconds. +[2026-09-17 22:34:20,520][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.88 Hz +[2026-09-17 22:34:21,203][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.05 iterations per second over 30.00 seconds. +[2026-09-17 22:34:23,312][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.30 Hz +[2026-09-17 22:34:27,487][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 48 times, mean step_time: 0.003822 s, max step_time: 0.010948 s +[2026-09-17 22:34:27,489][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003828 s, max step_time: 0.012591 s +[2026-09-17 22:34:30,521][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.85 Hz +[2026-09-17 22:34:33,313][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 22:34:40,525][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 273.81 Hz +[2026-09-17 22:34:43,313][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.88 Hz +[2026-09-17 22:34:45,581][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 271.15 iterations per second over 24.38 seconds. +[2026-09-17 22:34:45,588][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.77 iterations per second over 27.29 seconds. +[2026-09-17 22:34:50,381][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 22:34:50,383][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 22:34:50,383][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 22:34:50,383][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 22:34:50,383][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 22:34:50,383][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 22:34:50,383][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 22:34:50,383][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 22:34:50,383][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 22:34:50,384][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 22:34:50,384][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 22:34:50,384][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 22:34:50,384][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 22:34:50,384][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 22:34:50,384][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 22:34:50,384][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 22:34:50,385][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 +[2026-09-17 22:34:50,385][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 +[2026-09-17 22:34:50,385][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:34:50,385][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:34:50,385][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:34:50,385][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:34:50,385][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:34:50,385][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:34:50,385][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:34:50,385][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:34:50,385][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:34:50,385][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:34:50,385][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 22:34:50,385][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 22:34:50,386][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:34:50,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:34:50,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 22:34:50,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:34:50,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:34:50,441][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:50,452][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:34:50,463][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:34:50,474][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:50,485][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:34:50,496][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:34:50,507][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:50,518][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:34:50,529][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:34:50,540][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:50,551][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:34:50,562][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:34:50,573][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:50,584][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:34:50,595][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:34:50,606][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:50,617][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:34:50,617][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 22:34:50,617][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 22:34:50,617][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:34:50,672][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 22:34:50,727][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 22:34:50,782][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 22:34:50,836][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 22:34:50,890][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:34:50,944][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 22:34:50,998][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 22:34:50,998][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 22:34:50,998][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:34:50,999][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:34:51,009][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:34:51,014][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:34:51,021][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:34:51,027][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:34:51,033][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:34:51,039][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:34:51,046][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:34:51,053][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 22:34:51,053][root][INFO] - current_pos: [-0.024605172808422893, -0.0001907377737087046, 0.0017166399633783413, 0.0005722133211261138, 0.01583123521782248, 0.12684061951628856, 0.022697795071335847] +[2026-09-17 22:34:51,053][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:34:51,053][root][INFO] - starting separate thread for control loop +[2026-09-17 22:34:51,154][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=-0.024605172808422893, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789655691.1543567), 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=25.0, timestamp=1789655691.1543567), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=33.0, timestamp=1789655691.1543567), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=34.0, timestamp=1789655691.1543567), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789655691.1543567), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.12684061951628856, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789655691.1543567), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.022697795071335847, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789655691.1543567)] +[2026-09-17 22:34:51,154][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:34:51,154][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-17 22:34:51,154][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:34:51,783][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 22:34:52,083][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:34:52,708][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 22:34:53,008][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-17 22:34:53,009][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-17 22:34:53,242][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 22:34:53,242][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 22:34:53,242][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:34:53,242][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:34:53,242][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:34:53,242][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:34:53,242][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:34:53,242][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:34:53,242][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:34:53,242][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:34:53,242][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:34:53,243][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:34:53,243][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 22:34:53,243][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 22:34:53,243][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:34:53,244][root][INFO] - initializing, .... +[2026-09-17 22:34:53,254][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:34:53,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:53,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:34:53,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:34:53,297][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:53,308][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:34:53,319][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:34:53,330][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:53,340][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:34:53,351][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:34:53,362][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:53,373][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:34:53,384][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:34:53,394][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:53,405][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:34:53,416][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:34:53,427][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:53,438][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:34:53,449][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:34:53,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:34:53,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:34:53,470][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 22:34:53,470][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 22:34:53,470][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:34:53,524][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 22:34:53,577][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 22:34:53,631][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 22:34:53,685][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 22:34:53,738][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 22:34:53,792][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 22:34:53,845][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 22:34:53,845][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 22:34:53,846][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:34:53,846][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:34:53,856][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:34:53,862][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:34:53,868][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:34:53,874][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:34:53,880][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:34:53,886][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:34:53,892][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:34:53,898][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)] +[2026-09-17 22:34:53,898][root][INFO] - current_pos: [-0.020027466239413982, 0.0005722133211261138, 0.000953688868543523, 0.004386968795300206, -0.06771190966659013, 0.0497825589379719, 0.9306095979247733] +[2026-09-17 22:34:53,898][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:34:53,898][root][INFO] - starting separate thread for control loop +[2026-09-17 22:34:53,998][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=-0.020027466239413982, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789655693.9985976), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.03418803418803407, pos=0.0005722133211261138, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789655693.9985976), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=29.0, timestamp=1789655693.9985976), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.004386968795300206, voltage=-1, temp_mos=29.0, temp_rotor=33.0, timestamp=1789655693.9985976), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06771190966659013, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789655693.9985976), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0497825589379719, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789655693.9985976), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.9306095979247733, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789655693.9985976)] +[2026-09-17 22:34:53,998][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:34:53,998][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.9306 +[2026-09-17 22:34:53,999][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:34:54,615][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-17 22:34:54,915][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:34:55,535][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 22:34:55,835][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2584496833752965, -0.010872053101396162) +[2026-09-17 22:34:55,835][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25844968 -0.01087205] +[2026-09-17 22:34:55,964][root][INFO] - initializing, .... +[2026-09-17 22:35:03,245][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.17 Hz +[2026-09-17 22:35:05,967][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 236.24 Hz +[2026-09-17 22:35:13,250][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.62 Hz +[2026-09-17 22:35:15,967][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.79 Hz +[2026-09-17 22:35:18,754][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 22:35:18,754][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 22:35:21,055][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.45 iterations per second over 30.00 seconds. +[2026-09-17 22:35:21,056][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003992 s, max step_time: 0.061006 s +[2026-09-17 22:35:23,251][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.54 Hz +[2026-09-17 22:35:23,900][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.48 iterations per second over 30.00 seconds. +[2026-09-17 22:35:23,900][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004024 s, max step_time: 0.060648 s +[2026-09-17 22:35:25,970][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.55 Hz +[2026-09-17 22:35:33,255][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.01 Hz +[2026-09-17 22:35:35,971][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 +[2026-09-17 22:35:43,259][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.40 Hz +[2026-09-17 22:35:45,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.48 Hz +[2026-09-17 22:35:51,058][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.71 iterations per second over 30.00 seconds. +[2026-09-17 22:35:51,059][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003911 s, max step_time: 0.008821 s +[2026-09-17 22:35:53,259][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.78 Hz +[2026-09-17 22:35:53,903][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.27 iterations per second over 30.00 seconds. +[2026-09-17 22:35:53,903][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003948 s, max step_time: 0.010137 s +[2026-09-17 22:35:55,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.07 Hz +[2026-09-17 22:36:03,261][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.28 Hz +[2026-09-17 22:36:04,261][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 22:36:04,261][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 22:36:05,981][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.11 Hz +[2026-09-17 22:36:13,264][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.60 Hz +[2026-09-17 22:36:15,981][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.80 Hz +[2026-09-17 22:36:21,061][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.68 iterations per second over 30.00 seconds. +[2026-09-17 22:36:21,061][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003958 s, max step_time: 0.016928 s +[2026-09-17 22:36:23,267][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.13 Hz +[2026-09-17 22:36:23,903][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.90 iterations per second over 30.00 seconds. +[2026-09-17 22:36:23,903][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003954 s, max step_time: 0.019912 s +[2026-09-17 22:36:25,984][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.51 Hz +[2026-09-17 22:36:33,267][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.90 Hz +[2026-09-17 22:36:35,988][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.91 Hz +[2026-09-17 22:36:36,575][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 22:36:36,575][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 22:36:43,268][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.06 Hz +[2026-09-17 22:36:45,988][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.39 Hz +[2026-09-17 22:36:51,061][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.37 iterations per second over 30.00 seconds. +[2026-09-17 22:36:51,061][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003962 s, max step_time: 0.022916 s +[2026-09-17 22:36:53,269][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.69 Hz +[2026-09-17 22:36:53,903][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.43 iterations per second over 30.00 seconds. +[2026-09-17 22:36:53,904][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003946 s, max step_time: 0.022557 s +[2026-09-17 22:36:55,992][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.53 Hz +[2026-09-17 22:37:03,269][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.88 Hz +[2026-09-17 22:37:05,995][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.51 Hz +[2026-09-17 22:37:13,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.85 Hz +[2026-09-17 22:37:15,995][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.77 Hz +[2026-09-17 22:37:19,972][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 22:37:19,972][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 22:37:21,065][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.70 iterations per second over 30.00 seconds. +[2026-09-17 22:37:21,065][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.004005 s, max step_time: 0.021587 s +[2026-09-17 22:37:23,272][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.29 Hz +[2026-09-17 22:37:23,904][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.77 iterations per second over 30.00 seconds. +[2026-09-17 22:37:23,904][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.004004 s, max step_time: 0.023769 s +[2026-09-17 22:37:25,997][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.05 Hz +[2026-09-17 22:37:33,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.41 Hz +[2026-09-17 22:37:36,001][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.43 Hz +[2026-09-17 22:37:43,277][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.88 Hz +[2026-09-17 22:37:46,002][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.66 Hz +[2026-09-17 22:37:51,067][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.88 iterations per second over 30.00 seconds. +[2026-09-17 22:37:51,067][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003819 s, max step_time: 0.007257 s +[2026-09-17 22:37:53,282][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.56 Hz +[2026-09-17 22:37:53,905][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.82 iterations per second over 30.00 seconds. +[2026-09-17 22:37:53,905][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003864 s, max step_time: 0.061867 s +[2026-09-17 22:37:56,007][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.31 Hz +[2026-09-17 22:38:03,284][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.03 Hz +[2026-09-17 22:38:03,991][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 22:38:03,992][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 22:38:06,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.58 Hz +[2026-09-17 22:38:13,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.29 Hz +[2026-09-17 22:38:16,007][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 +[2026-09-17 22:38:21,068][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.20 iterations per second over 30.00 seconds. +[2026-09-17 22:38:21,068][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.003965 s, max step_time: 0.025737 s +[2026-09-17 22:38:23,289][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.07 Hz +[2026-09-17 22:38:23,906][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.89 iterations per second over 30.00 seconds. +[2026-09-17 22:38:23,906][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003939 s, max step_time: 0.024394 s +[2026-09-17 22:38:26,007][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.77 Hz +[2026-09-17 22:38:33,289][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.71 Hz +[2026-09-17 22:38:36,010][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.04 Hz +[2026-09-17 22:38:43,292][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.03 Hz +[2026-09-17 22:38:46,010][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.99 Hz +[2026-09-17 22:38:50,255][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.07 iterations per second over 26.35 seconds. +[2026-09-17 22:38:50,262][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.10 iterations per second over 29.19 seconds. +[2026-09-17 22:38:52,381][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 22:38:52,382][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 22:38:52,382][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 22:38:52,382][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 22:38:52,382][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 22:38:52,382][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 22:38:52,382][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 22:38:52,382][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 22:38:52,383][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 22:38:52,383][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 22:38:52,384][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 22:38:52,384][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 22:38:52,384][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 22:38:52,384][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 22:38:52,384][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 22:38:52,384][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 22:38:52,384][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 22:38:52,384][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 22:38:52,384][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:38:52,384][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:38:52,384][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:38:52,384][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:38:52,384][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:38:52,384][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:38:52,384][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:38:52,384][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:38:52,384][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:38:52,384][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:38:52,384][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 22:38:52,384][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 22:38:52,386][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:38:52,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:38:52,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 22:38:52,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:38:52,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:38:52,441][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:52,452][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:38:52,463][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:38:52,474][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:52,485][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:38:52,496][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:38:52,506][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:52,517][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:38:52,528][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:38:52,539][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:52,550][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:38:52,560][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:38:52,571][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:52,582][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:38:52,593][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:38:52,604][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:52,615][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:38:52,615][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 22:38:52,615][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 22:38:52,615][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:38:52,669][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:38:52,723][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 22:38:52,777][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 22:38:52,831][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 22:38:52,885][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 22:38:52,938][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 22:38:52,992][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 22:38:52,992][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 22:38:52,992][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:38:52,992][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:38:53,003][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:38:53,008][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:38:53,014][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:38:53,020][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:38:53,026][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:38:53,032][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:38:53,038][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:38:53,044][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=0.0073260073260073, 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 22:38:53,044][root][INFO] - current_pos: [-0.02574959945067512, -0.0001907377737087046, 0.0017166399633783413, 0.0005722133211261138, 0.015449759670405072, 0.13065537499046265, 0.022316319523918438] +[2026-09-17 22:38:53,044][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:38:53,044][root][INFO] - starting separate thread for control loop +[2026-09-17 22:38:53,145][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=-0.02574959945067512, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789655933.1450937), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789655933.1450937), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=34.0, timestamp=1789655933.1450937), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=37.0, timestamp=1789655933.1450937), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.015449759670405072, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789655933.1450937), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.13065537499046265, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789655933.1450937), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789655933.1450937)] +[2026-09-17 22:38:53,145][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:38:53,145][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-17 22:38:53,145][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:38:53,770][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 22:38:54,070][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:38:54,696][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 22:38:54,996][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-17 22:38:54,996][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-17 22:38:55,232][root][INFO] - initializing, .... +[2026-09-17 22:38:55,233][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 22:38:55,233][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 22:38:55,233][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:38:55,233][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:38:55,233][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:38:55,233][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:38:55,233][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:38:55,233][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:38:55,233][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:38:55,233][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:38:55,233][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:38:55,233][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:38:55,233][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 22:38:55,233][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 22:38:55,233][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:38:55,245][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:38:55,255][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:55,267][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:38:55,277][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:38:55,288][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:55,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:38:55,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:38:55,320][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:55,331][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:38:55,342][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:38:55,353][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:55,363][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:38:55,374][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:38:55,385][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:55,396][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:38:55,406][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:38:55,417][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:55,428][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:38:55,439][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:38:55,449][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:38:55,460][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:38:55,460][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 22:38:55,460][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 22:38:55,460][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:38:55,514][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 22:38:55,567][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 22:38:55,621][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 22:38:55,675][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 22:38:55,728][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 22:38:55,782][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 22:38:55,836][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 22:38:55,836][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 22:38:55,836][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:38:55,836][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:38:55,847][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:38:55,852][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:38:55,858][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:38:55,864][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:38:55,871][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:38:55,877][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:38:55,882][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:38:55,890][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=-0.012210012210012167, 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=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 22:38:55,890][root][INFO] - current_pos: [-0.01697566186007471, -0.0013351644159609322, 0.000953688868543523, 0.0017166399633783413, -0.0413900968947889, 0.0001907377737087046, 0.845540550850691] +[2026-09-17 22:38:55,890][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:38:55,890][root][INFO] - starting separate thread for control loop +[2026-09-17 22:38:55,990][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.02051282051282044, pos=-0.01697566186007471, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789655935.9906325), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789655935.9906325), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=30.0, timestamp=1789655935.9906325), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=34.0, timestamp=1789655935.9906325), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=-0.0413900968947889, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789655935.9906325), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789655935.9906325), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.8451590753032736, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789655935.9906325)] +[2026-09-17 22:38:55,990][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:38:55,990][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.8452 +[2026-09-17 22:38:55,990][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:38:56,614][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-17 22:38:56,914][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:38:57,534][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 22:38:57,835][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252727550164035, -0.010872053101396162) +[2026-09-17 22:38:57,835][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25272755 -0.01087205] +[2026-09-17 22:38:57,966][root][INFO] - initializing, .... +[2026-09-17 22:39:05,236][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.94 Hz +[2026-09-17 22:39:07,972][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.90 Hz +[2026-09-17 22:39:15,240][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.72 Hz +[2026-09-17 22:39:17,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.59 Hz +[2026-09-17 22:39:21,154][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 22:39:21,154][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 22:39:23,045][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.43 iterations per second over 30.00 seconds. +[2026-09-17 22:39:23,045][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003977 s, max step_time: 0.074640 s +[2026-09-17 22:39:25,241][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.46 Hz +[2026-09-17 22:39:25,894][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.94 iterations per second over 30.00 seconds. +[2026-09-17 22:39:25,894][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004017 s, max step_time: 0.077289 s +[2026-09-17 22:39:27,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.00 Hz +[2026-09-17 22:39:35,242][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.59 Hz +[2026-09-17 22:39:37,974][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.48 Hz +[2026-09-17 22:39:45,243][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.86 Hz +[2026-09-17 22:39:47,074][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.72 iterations per second over 21.18 seconds. +[2026-09-17 22:39:47,081][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.06 iterations per second over 24.04 seconds. +[2026-09-17 22:40:35,198][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 22:40:35,199][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 22:40:35,200][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 22:40:35,200][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 22:40:35,200][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 22:40:35,200][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 22:40:35,200][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 22:40:35,200][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 22:40:35,200][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 22:40:35,201][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 22:40:35,201][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 22:40:35,201][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 22:40:35,201][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 22:40:35,201][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 22:40:35,201][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 22:40:35,201][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 22:40:35,202][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 22:40:35,202][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 22:40:35,202][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:40:35,202][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:40:35,202][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:40:35,202][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:40:35,202][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:40:35,202][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:40:35,202][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:40:35,202][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:40:35,202][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:40:35,202][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:40:35,202][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 22:40:35,202][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 22:40:35,203][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:40:35,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:40:35,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 22:40:35,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:40:35,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:40:35,259][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:35,270][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:40:35,281][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:40:35,292][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:35,303][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:40:35,314][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:40:35,325][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:35,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:40:35,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:40:35,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:35,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:40:35,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:40:35,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:35,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:40:35,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:40:35,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:35,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:40:35,435][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 22:40:35,435][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 22:40:35,436][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:40:35,491][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 22:40:35,546][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 22:40:35,602][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 22:40:35,657][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 22:40:35,712][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 22:40:35,768][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 22:40:35,823][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 22:40:35,823][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 22:40:35,824][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:40:35,824][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:40:35,835][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:40:35,841][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:40:35,847][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:40:35,853][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:40:35,859][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:40:35,866][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:40:35,873][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:40:35,880][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=0.0073260073260073, 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 22:40:35,880][root][INFO] - current_pos: [-0.05283436331731117, -0.0001907377737087046, 0.0017166399633783413, 0.0005722133211261138, 0.015449759670405072, 0.13065537499046265, 0.022697795071335847] +[2026-09-17 22:40:35,880][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:40:35,881][root][INFO] - starting separate thread for control loop +[2026-09-17 22:40:35,981][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=-0.05283436331731117, voltage=-1, temp_mos=25.0, temp_rotor=23.0, timestamp=1789656035.981368), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789656035.981368), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789656035.981368), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789656035.981368), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789656035.981368), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.13065537499046265, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789656035.981368), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.022697795071335847, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789656035.981368)] +[2026-09-17 22:40:35,981][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:40:35,981][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-17 22:40:35,981][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:40:36,665][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 22:40:36,965][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:40:37,595][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 22:40:37,896][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-17 22:40:37,896][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-17 22:40:38,137][root][INFO] - initializing, .... +[2026-09-17 22:40:38,138][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 22:40:38,138][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 22:40:38,139][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:40:38,139][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:40:38,139][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:40:38,139][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:40:38,139][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:40:38,139][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:40:38,139][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:40:38,139][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:40:38,139][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:40:38,139][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:40:38,139][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 22:40:38,139][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 22:40:38,139][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:40:38,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:40:38,161][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:38,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:40:38,184][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:40:38,195][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:38,206][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:40:38,217][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:40:38,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:38,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:40:38,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:40:38,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:38,273][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:40:38,284][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:40:38,295][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:38,306][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:40:38,317][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:40:38,328][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:38,339][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:40:38,350][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:40:38,361][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:40:38,372][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:40:38,372][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 22:40:38,372][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 22:40:38,373][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:40:38,428][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 22:40:38,483][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 22:40:38,538][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 22:40:38,592][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 22:40:38,646][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 22:40:38,699][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 22:40:38,753][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 22:40:38,753][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 22:40:38,753][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:40:38,753][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:40:38,764][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:40:38,769][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:40:38,775][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:40:38,781][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:40:38,787][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:40:38,793][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:40:38,799][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:40:38,805][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, 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=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 22:40:38,805][root][INFO] - current_pos: [-0.023460746166170665, -0.0013351644159609322, 0.000953688868543523, 0.000953688868543523, -0.041771572442206306, 0.007820248722056888, 1.1068513008316163] +[2026-09-17 22:40:38,806][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:40:38,806][root][INFO] - starting separate thread for control loop +[2026-09-17 22:40:38,906][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.023460746166170665, voltage=-1, temp_mos=26.0, temp_rotor=23.0, timestamp=1789656038.9063096), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656038.9063096), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789656038.9063096), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789656038.9063096), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=-0.041771572442206306, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789656038.9063096), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.007820248722056888, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656038.9063096), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=1.1068513008316163, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789656038.9063096)] +[2026-09-17 22:40:38,906][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:40:38,906][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.1069 +[2026-09-17 22:40:38,906][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:40:39,520][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-17 22:40:39,820][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:40:40,443][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 22:40:40,744][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.294308384832533, -0.010872053101396162) +[2026-09-17 22:40:40,744][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.29430838 -0.01087205] +[2026-09-17 22:40:40,877][root][INFO] - initializing, .... +[2026-09-17 22:40:48,144][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.89 Hz +[2026-09-17 22:40:50,880][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.56 Hz +[2026-09-17 22:40:58,148][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.01 Hz +[2026-09-17 22:41:00,882][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.05 Hz +[2026-09-17 22:41:03,940][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 22:41:03,941][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 22:41:05,881][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.30 iterations per second over 30.00 seconds. +[2026-09-17 22:41:05,881][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003995 s, max step_time: 0.073443 s +[2026-09-17 22:41:08,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.54 Hz +[2026-09-17 22:41:08,807][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.96 iterations per second over 30.00 seconds. +[2026-09-17 22:41:08,807][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004016 s, max step_time: 0.066592 s +[2026-09-17 22:41:10,882][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.40 Hz +[2026-09-17 22:41:18,152][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.98 Hz +[2026-09-17 22:41:20,884][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.16 Hz +[2026-09-17 22:41:28,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.84 Hz +[2026-09-17 22:41:30,889][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.59 Hz +[2026-09-17 22:41:35,881][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.97 iterations per second over 30.00 seconds. +[2026-09-17 22:41:38,154][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.60 Hz +[2026-09-17 22:41:38,808][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.52 iterations per second over 30.00 seconds. +[2026-09-17 22:41:38,808][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003809 s, max step_time: 0.007282 s +[2026-09-17 22:41:40,891][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.52 Hz +[2026-09-17 22:41:48,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.13 Hz +[2026-09-17 22:41:50,895][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.32 Hz +[2026-09-17 22:41:58,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.21 Hz +[2026-09-17 22:42:00,896][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.66 Hz +[2026-09-17 22:42:01,045][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003823 s, max step_time: 0.007747 s +[2026-09-17 22:42:05,882][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.60 iterations per second over 30.00 seconds. +[2026-09-17 22:42:08,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.30 Hz +[2026-09-17 22:42:08,812][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.33 iterations per second over 30.00 seconds. +[2026-09-17 22:42:08,812][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003856 s, max step_time: 0.007095 s +[2026-09-17 22:42:10,900][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.51 Hz +[2026-09-17 22:42:18,162][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 22:42:20,902][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.34 Hz +[2026-09-17 22:42:26,208][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.39 iterations per second over 17.40 seconds. +[2026-09-17 22:42:26,216][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.29 iterations per second over 20.33 seconds. +[2026-09-17 22:43:27,285][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 22:43:27,286][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 22:43:27,286][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 22:43:27,286][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 22:43:27,286][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 22:43:27,286][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 22:43:27,286][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 22:43:27,286][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 22:43:27,286][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 22:43:27,287][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 22:43:27,287][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 22:43:27,287][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 22:43:27,287][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 22:43:27,287][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 22:43:27,287][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 22:43:27,287][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 22:43:27,288][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 22:43:27,288][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 22:43:27,288][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:43:27,288][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:43:27,288][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:43:27,288][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:43:27,288][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:43:27,288][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:43:27,288][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:43:27,288][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:43:27,288][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:43:27,288][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:43:27,288][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 22:43:27,288][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 22:43:27,289][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:43:27,301][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:43:27,312][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 22:43:27,323][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:43:27,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:43:27,346][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:27,357][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:43:27,368][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:43:27,379][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:27,390][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:43:27,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:43:27,412][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:27,423][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:43:27,434][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:43:27,445][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:27,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:43:27,468][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:43:27,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:27,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:43:27,501][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:43:27,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:27,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:43:27,523][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 22:43:27,523][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 22:43:27,523][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:43:27,577][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 22:43:27,631][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 22:43:27,685][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 22:43:27,738][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 22:43:27,793][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 22:43:27,847][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 22:43:27,900][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 22:43:27,901][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 22:43:27,901][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:43:27,901][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:43:27,912][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:43:27,916][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:43:27,924][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:43:27,930][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:43:27,936][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:43:27,942][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:43:27,948][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:43:27,954][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=0.0073260073260073, 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 22:43:27,954][root][INFO] - current_pos: [-0.05283436331731117, -0.0001907377737087046, 0.0017166399633783413, 0.0005722133211261138, 0.015449759670405072, 0.13408865491721933, 0.020027466239413982] +[2026-09-17 22:43:27,954][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:43:27,954][root][INFO] - starting separate thread for control loop +[2026-09-17 22:43:28,055][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=-0.05283436331731117, voltage=-1, temp_mos=26.0, temp_rotor=23.0, timestamp=1789656208.0550015), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789656208.0550015), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789656208.0550015), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789656208.0550015), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789656208.0550015), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.13408865491721933, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789656208.0550015), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.020027466239413982, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789656208.0550015)] +[2026-09-17 22:43:28,055][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:43:28,055][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0200 +[2026-09-17 22:43:28,055][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:43:28,685][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 22:43:28,985][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:43:29,614][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 22:43:29,914][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-17 22:43:29,915][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-17 22:43:30,150][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 22:43:30,151][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 22:43:30,151][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:43:30,151][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:43:30,151][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:43:30,151][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:43:30,151][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:43:30,151][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:43:30,151][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:43:30,151][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:43:30,151][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:43:30,151][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:43:30,151][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 22:43:30,151][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 22:43:30,151][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:43:30,152][root][INFO] - initializing, .... +[2026-09-17 22:43:30,162][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:43:30,173][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:30,183][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:43:30,194][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:43:30,205][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:30,216][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:43:30,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:43:30,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:30,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:43:30,259][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:43:30,270][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:30,281][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:43:30,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:43:30,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:30,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:43:30,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:43:30,334][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:30,345][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:43:30,356][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:43:30,367][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:43:30,378][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:43:30,378][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 22:43:30,378][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 22:43:30,378][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:43:30,431][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 22:43:30,485][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 22:43:30,539][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 22:43:30,592][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 22:43:30,646][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 22:43:30,700][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 22:43:30,753][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 22:43:30,753][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 22:43:30,754][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:43:30,754][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:43:30,764][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:43:30,770][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:43:30,776][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:43:30,782][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:43:30,788][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:43:30,795][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:43:30,800][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:43:30,807][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=-0.012210012210012167, 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=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 22:43:30,808][root][INFO] - current_pos: [0.0024795910582131597, -0.0013351644159609322, 0.000953688868543523, 0.0005722133211261138, -0.0001907377737087046, -0.014686808575570254, 1.514267185473411] +[2026-09-17 22:43:30,808][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:43:30,808][root][INFO] - starting separate thread for control loop +[2026-09-17 22:43:30,908][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789656210.9085248), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656210.9085248), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789656210.9085248), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789656210.9085248), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.017094017094017033, pos=-0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789656210.9085248), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.014686808575570254, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656210.9085248), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=1.514267185473411, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789656210.9085248)] +[2026-09-17 22:43:30,908][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:43:30,908][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.5143 +[2026-09-17 22:43:30,908][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:43:31,474][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-17 22:43:31,774][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:43:32,391][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 22:43:32,691][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253109025711453, -0.01087205310139261) +[2026-09-17 22:43:32,692][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25310903 -0.01087205] +[2026-09-17 22:43:32,816][root][INFO] - initializing, .... +[2026-09-17 22:43:40,157][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.04 Hz +[2026-09-17 22:43:42,821][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.97 Hz +[2026-09-17 22:43:50,159][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.97 Hz +[2026-09-17 22:43:52,822][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.36 Hz +[2026-09-17 22:43:54,507][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 22:43:54,507][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 22:43:57,957][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.91 iterations per second over 30.00 seconds. +[2026-09-17 22:43:57,957][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003969 s, max step_time: 0.066876 s +[2026-09-17 22:44:00,159][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.63 Hz +[2026-09-17 22:44:00,810][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.95 iterations per second over 30.00 seconds. +[2026-09-17 22:44:00,810][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.004016 s, max step_time: 0.066356 s +[2026-09-17 22:44:02,822][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.59 Hz +[2026-09-17 22:44:10,159][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.20 Hz +[2026-09-17 22:44:12,825][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.51 Hz +[2026-09-17 22:44:20,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.18 Hz +[2026-09-17 22:44:22,827][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.73 Hz +[2026-09-17 22:44:27,958][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.38 iterations per second over 30.00 seconds. +[2026-09-17 22:44:27,959][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003855 s, max step_time: 0.007465 s +[2026-09-17 22:44:30,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.45 Hz +[2026-09-17 22:44:30,813][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.94 iterations per second over 30.00 seconds. +[2026-09-17 22:44:30,813][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003892 s, max step_time: 0.007282 s +[2026-09-17 22:44:32,832][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.32 Hz +[2026-09-17 22:44:40,164][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.27 Hz +[2026-09-17 22:44:42,636][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 22:44:42,636][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 22:44:42,834][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.81 Hz +[2026-09-17 22:44:48,094][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.65 iterations per second over 17.28 seconds. +[2026-09-17 22:44:48,101][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.78 iterations per second over 20.14 seconds. diff --git a/eval/YAM/V2/pi0.5_2500/flip_bread/metadata/runtime/output.lock b/eval/YAM/V2/pi0.5_2500/flip_bread/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0001/action/executed_action_dict.pkl b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0001/action/executed_action_dict.pkl new file mode 100644 index 0000000000000000000000000000000000000000..fdb78c30206223d4aba5f84ed1bf488d22703e10 Binary files /dev/null and b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0001/action/executed_action_dict.pkl differ diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0001/camera/metadata.json b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0001/camera/metadata.json 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