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b/eval/YAM/V2/dp/banana_handoff/data/round_0004/workflow_manifest.json @@ -0,0 +1,1496 @@ +{ + "acceleration_limits": [ + 118.7426430016755, + 165.012131490699, + 134.04180689399348, + 274.86399842805685, + 195.25766555964873, + 454.5340796113012, + 109.40927818565227, + 178.49339036295515, + 476.6444930964641, + 557.9080874526715, + 587.1810202100611, + 362.1711802492357, + 208.8803265352197, + 208.9010343469399 + ], + "actions_sent": 864, + "awaiting_failure_shutdown": false, + "chunks": 27, + "cleanup_errors": [], + "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 + ], + "config": { + "async_inference": { + "blend_steps": 5, + "enabled": false, + "prefetch_steps": 12 + }, + "data": { + "bridge": { + 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--git a/eval/YAM/V2/dp/banana_handoff/data/round_0011/workflow_manifest.json b/eval/YAM/V2/dp/banana_handoff/data/round_0011/workflow_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..c38e50aab03251b30531433287ce661a56245723 --- /dev/null +++ b/eval/YAM/V2/dp/banana_handoff/data/round_0011/workflow_manifest.json @@ -0,0 +1,1493 @@ +{ + "acceleration_limits": [ + 178.113964503, + 247.518197236, + 201.062710341, + 412.295997642, + 292.886498339, + 681.801119417, + 164.113917278, + 267.740085544, + 714.966739645, + 836.862131179, + 880.771530315, + 543.256770374, + 313.320489803, + 313.35155152 + ], + "actions_sent": 416, + "awaiting_failure_shutdown": false, + "chunks": 13, + "cleanup_errors": [ + "robot_client.release_control: timed out waiting for robot control result: yam_workflow:432" + ], + "command_velocity_limits": [ + 7.326937734087213, + 7.492612143357643, + 9.039960411055707, + 10.989442599937178, + 11.822247140410347, + 21.729793477053846, + 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"updated_at_unix": 1789574549.7218573 + }, + "prometheus_camera_right_wrist_0_recorder": { + "camera_frames": { + "right_wrist_0_rgb": 639 + }, + "camera_timestamp_samples": 639, + "complete_sensor_bundles": 639, + "counts": { + "action.executed": 384, + "camera.base_0_rgb": 639, + "camera.left_wrist_0_rgb": 639, + "camera.right_wrist_0_rgb": 639, + "dropped": 0, + "event.workflow": 1, + "items": 4858, + "robot.robot_state": 2556 + }, + "dropped_incomplete_sensor_bundles": 0, + "duplicate_sensor_messages": 0, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bowl_handoff/data/round_0011", + "failure": "", + "metadata": { + "round_number": 11, + "run_id": "20260916_235942_073813_round_0011", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_camera_right_wrist_0_recorder", + "record_mode": "sensor", + "schema": "prometheus_raw_episode_v1", + "sensor_kind": "camera", + "sensor_name": "right_wrist_0", + "status": "saved", + "updated_at_unix": 1789574549.7218573 + } +} diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0011/manifests/event.json b/eval/YAM/V2/dp/bowl_handoff/data/round_0011/manifests/event.json new file mode 100644 index 0000000000000000000000000000000000000000..e15ff5735e4cf736d17fe654483c62a20eeb9528 --- /dev/null +++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0011/manifests/event.json @@ -0,0 +1,27 @@ +{ + "prometheus_event_recorder": { + "counts": { + "action.executed": 384, + "camera.base_0_rgb": 639, + "camera.left_wrist_0_rgb": 639, + "camera.right_wrist_0_rgb": 639, + "dropped": 0, + "event.workflow": 1, + "items": 4858, + "robot.robot_state": 2556 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bowl_handoff/data/round_0011", + "event_samples": 1, + "failure": "", + "metadata": { + "round_number": 11, + "run_id": "20260916_235942_073813_round_0011", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_event_recorder", + "record_mode": "event", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789574549.7218573 + } +} diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0011/manifests/robot.json b/eval/YAM/V2/dp/bowl_handoff/data/round_0011/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..1a5e8786ae23b9327abbc2b9c384e7a3897ac367 --- /dev/null +++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0011/manifests/robot.json @@ -0,0 +1,36 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 384, + "camera.base_0_rgb": 639, + "camera.left_wrist_0_rgb": 639, + "camera.right_wrist_0_rgb": 639, + "dropped": 0, + "event.workflow": 1, + "items": 4858, + "robot.robot_state": 2556 + }, + "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bowl_handoff/data/round_0011", + "failure": "", + "incomplete_robot_samples": { + "left": 2556, + "right": 2556 + }, + "metadata": { + "round_number": 11, + "run_id": "20260916_235942_073813_round_0011", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 2556, + "right": 2556 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789574549.7218573 + } +} diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0011/manifests/tactile.json b/eval/YAM/V2/dp/bowl_handoff/data/round_0011/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0011/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a22476c9dbbcaaa06f84f085b2fab86f3be06595 --- /dev/null +++ b/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,244 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bowl_handoff + steps: 30 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 32 + prediction_horizon: 32 +policy: + host: 127.0.0.1 + port: 9016 + prompt: bowl_handoff + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 5.0 + task: bowl_handoff + expected_checkpoint_path: /home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/bowl_handoff/best-short.pt + history_tolerance_s: 0.015 + model: dp +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 178.113964503 + - 247.518197236 + - 201.062710341 + - 412.295997642 + - 292.886498339 + - 681.801119417 + - 164.113917278 + - 267.740085544 + - 714.966739645 + - 836.862131179 + - 880.771530315 + - 543.256770374 + - 313.320489803 + - 313.35155152 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: false + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 1.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 + sync_wait_after_ack: true +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: YAM V2 dp bowl_handoff - sync + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..08695a0818d857a324ca6beb8a9a0350ef0662bb --- /dev/null +++ b/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.model=dp + - policy.task=bowl_handoff + - policy.prompt=bowl_handoff + - policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/bowl_handoff/best-short.pt + - run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bowl_handoff + - async_inference.enabled=false + - preview.window=YAM V2 dp bowl_handoff - sync + job: + name: rollout + chdir: false + override_dirname: async_inference.enabled=false,execute=true,policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/bowl_handoff/best-short.pt,policy.model=dp,policy.prompt=bowl_handoff,policy.task=bowl_handoff,preview.window=YAM + V2 dp bowl_handoff - sync,run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bowl_handoff + id: ??? + num: ??? + config_name: yam_v2 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bowl_handoff/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5b6e2f5a810ba8a1adae7af16dad5adc09ba5286 --- /dev/null +++ b/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.model=dp +- policy.task=bowl_handoff +- policy.prompt=bowl_handoff +- policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/bowl_handoff/best-short.pt +- run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/bowl_handoff +- async_inference.enabled=false +- preview.window=YAM V2 dp bowl_handoff - sync diff --git a/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/rollout.log b/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..f132faa0537dfbaeb93312ce456f99a5eab5f919 --- /dev/null +++ b/eval/YAM/V2/dp/bowl_handoff/metadata/hydra/rollout.log @@ -0,0 +1,587 @@ +[2026-09-16 23:53:01,680][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:53:01,681][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:53:01,681][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:53:01,681][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:53:01,681][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:53:01,681][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:53:01,681][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:53:01,681][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:53:01,681][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:53:01,682][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:53:01,682][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:53:01,682][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:53:01,682][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:53:01,682][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:53:01,682][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:53:01,682][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:53:01,683][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:53:01,683][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:53:01,683][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:53:01,683][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:53:01,684][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:53:01,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:53:01,706][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:53:01,717][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:53:01,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:53:01,739][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:01,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:53:01,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:53:01,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:01,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:53:01,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:53:01,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:01,816][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:53:01,828][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:53:01,839][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:01,850][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:53:01,861][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:53:01,872][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:01,883][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:53:01,894][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:53:01,905][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:01,916][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:53:01,916][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:53:01,916][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:53:01,917][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:53:01,972][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:53:02,027][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:53:02,082][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:53:02,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:53:02,192][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:53:02,247][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:53:02,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:53:02,302][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 23:53:02,303][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:53:02,303][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:53:02,314][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:53:02,319][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:53:02,326][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:53:02,333][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:53:02,340][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:53:02,348][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:53:02,354][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:53:02,360][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=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:53:02,361][root][INFO] - current_pos: [0.007820248722056888, -0.000953688868543523, 0.000953688868543523, 0.004386968795300206, -0.024986648355840302, -0.019264515144579164, 0.022316319523918438] +[2026-09-16 23:53:02,361][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:53:02,361][root][INFO] - starting separate thread for control loop +[2026-09-16 23:53:02,461][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=0.007820248722056888, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789573982.4613738), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=28.0, timestamp=1789573982.4613738), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789573982.4613738), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.004386968795300206, voltage=-1, temp_mos=34.0, temp_rotor=34.0, timestamp=1789573982.4613738), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.024986648355840302, voltage=-1, temp_mos=32.0, temp_rotor=30.0, timestamp=1789573982.4613738), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.019264515144579164, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789573982.4613738), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789573982.4613738)] +[2026-09-16 23:53:02,461][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:53:02,461][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-16 23:53:02,461][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:53:03,091][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:53:03,391][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:53:04,015][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:53:04,316][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.276760509651332, -0.007057297627218517) +[2026-09-16 23:53:04,316][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27676051 -0.0070573 ] +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:53:04,553][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:53:04,553][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:53:04,553][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:53:04,553][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:53:04,553][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:53:04,554][root][INFO] - initializing, .... +[2026-09-16 23:53:04,564][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:53:04,575][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:04,586][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:53:04,597][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:53:04,607][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:04,618][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:53:04,629][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:53:04,640][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:04,650][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:53:04,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:53:04,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:04,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:53:04,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:53:04,704][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:04,715][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:53:04,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:53:04,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:04,747][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:53:04,758][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:53:04,769][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:53:04,780][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:53:04,780][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:53:04,780][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:53:04,780][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:53:04,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:53:04,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:53:04,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:53:04,995][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:53:05,048][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:53:05,102][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:53:05,155][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:53:05,155][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 23:53:05,156][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:53:05,156][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:53:05,166][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:53:05,171][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:53:05,177][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:53:05,184][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:53:05,190][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:53:05,196][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:53:05,202][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:53:05,208][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 23:53:05,208][root][INFO] - current_pos: [0.04863813229571967, -0.0020981155107957505, -0.0001907377737087046, -0.0020981155107957505, -0.0207904173342488, 0.09822995345998287, 0.3286411841000998] +[2026-09-16 23:53:05,209][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:53:05,209][root][INFO] - starting separate thread for control loop +[2026-09-16 23:53:05,309][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.02051282051282044, pos=0.04863813229571967, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789573985.3094306), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789573985.3094306), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=-0.0001907377737087046, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789573985.3094306), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.0020981155107957505, voltage=-1, temp_mos=34.0, temp_rotor=32.0, timestamp=1789573985.3094306), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.021171892881669763, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789573985.3094306), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.0073260073260073, pos=0.09822995345998287, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789573985.3094306), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.3286411841000998, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789573985.3094306)] +[2026-09-16 23:53:05,309][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:53:05,309][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.3286 +[2026-09-16 23:53:05,309][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:53:05,923][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-16 23:53:06,224][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:53:06,843][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 23:53:07,143][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253109025711453, -0.010872053101396162) +[2026-09-16 23:53:07,143][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25310903 -0.01087205] +[2026-09-16 23:53:07,268][root][INFO] - initializing, .... +[2026-09-16 23:53:14,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.32 Hz +[2026-09-16 23:53:17,273][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.65 Hz +[2026-09-16 23:53:24,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.40 Hz +[2026-09-16 23:53:27,279][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.12 Hz +[2026-09-16 23:53:32,364][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.28 iterations per second over 30.00 seconds. +[2026-09-16 23:53:32,364][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003963 s, max step_time: 0.069580 s +[2026-09-16 23:53:34,558][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.20 Hz +[2026-09-16 23:53:35,211][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.11 iterations per second over 30.00 seconds. +[2026-09-16 23:53:35,212][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004030 s, max step_time: 0.078837 s +[2026-09-16 23:53:37,279][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.02 Hz +[2026-09-16 23:53:43,914][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:53:43,914][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:53:44,560][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.19 Hz +[2026-09-16 23:53:47,282][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.23 Hz +[2026-09-16 23:53:54,560][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.27 Hz +[2026-09-16 23:53:57,284][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.75 Hz +[2026-09-16 23:54:02,365][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.19 iterations per second over 30.00 seconds. +[2026-09-16 23:54:02,365][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003950 s, max step_time: 0.031433 s +[2026-09-16 23:54:04,560][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.60 Hz +[2026-09-16 23:54:05,213][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.89 iterations per second over 30.00 seconds. +[2026-09-16 23:54:05,213][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003970 s, max step_time: 0.033168 s +[2026-09-16 23:54:07,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.68 Hz +[2026-09-16 23:54:14,561][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.86 Hz +[2026-09-16 23:54:17,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.99 Hz +[2026-09-16 23:54:21,477][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:54:21,477][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:54:24,563][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.85 Hz +[2026-09-16 23:54:27,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.90 Hz +[2026-09-16 23:54:32,368][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.61 iterations per second over 30.00 seconds. +[2026-09-16 23:54:32,368][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003990 s, max step_time: 0.027050 s +[2026-09-16 23:54:34,564][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.88 Hz +[2026-09-16 23:54:35,214][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.92 iterations per second over 30.00 seconds. +[2026-09-16 23:54:35,214][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003969 s, max step_time: 0.028005 s +[2026-09-16 23:54:37,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.19 Hz +[2026-09-16 23:54:44,565][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.78 Hz +[2026-09-16 23:54:47,288][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.74 Hz +[2026-09-16 23:54:54,567][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.68 Hz +[2026-09-16 23:54:57,288][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.49 Hz +[2026-09-16 23:54:58,489][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:54:58,489][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:55:02,370][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.95 iterations per second over 30.00 seconds. +[2026-09-16 23:55:02,370][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003938 s, max step_time: 0.020596 s +[2026-09-16 23:55:04,569][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.92 Hz +[2026-09-16 23:55:05,214][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.77 iterations per second over 30.00 seconds. +[2026-09-16 23:55:05,214][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003956 s, max step_time: 0.020059 s +[2026-09-16 23:55:07,290][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.94 Hz +[2026-09-16 23:55:14,571][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.48 Hz +[2026-09-16 23:55:17,290][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.20 Hz +[2026-09-16 23:55:24,571][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.97 Hz +[2026-09-16 23:55:27,292][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.16 Hz +[2026-09-16 23:55:32,372][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.12 iterations per second over 30.00 seconds. +[2026-09-16 23:55:32,372][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003951 s, max step_time: 0.008421 s +[2026-09-16 23:55:34,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.24 Hz +[2026-09-16 23:55:35,215][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.02 iterations per second over 30.00 seconds. +[2026-09-16 23:55:35,215][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004000 s, max step_time: 0.008742 s +[2026-09-16 23:55:37,293][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.29 Hz +[2026-09-16 23:55:38,610][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:55:38,610][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:55:44,576][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 +[2026-09-16 23:55:47,296][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.02 Hz +[2026-09-16 23:55:54,579][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.53 Hz +[2026-09-16 23:55:57,300][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.01 Hz +[2026-09-16 23:56:02,373][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.19 iterations per second over 30.00 seconds. +[2026-09-16 23:56:02,373][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.004013 s, max step_time: 0.026749 s +[2026-09-16 23:56:04,582][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.33 Hz +[2026-09-16 23:56:05,216][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.03 iterations per second over 30.00 seconds. +[2026-09-16 23:56:05,216][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.004016 s, max step_time: 0.039162 s +[2026-09-16 23:56:07,300][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.10 Hz +[2026-09-16 23:56:08,570][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:56:08,570][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:56:14,585][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.26 Hz +[2026-09-16 23:56:17,300][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.98 Hz +[2026-09-16 23:56:24,586][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.02 Hz +[2026-09-16 23:56:27,308][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.05 Hz +[2026-09-16 23:56:32,375][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.95 iterations per second over 30.00 seconds. +[2026-09-16 23:56:32,375][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003907 s, max step_time: 0.028468 s +[2026-09-16 23:56:34,586][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.38 Hz +[2026-09-16 23:56:35,219][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.17 iterations per second over 30.00 seconds. +[2026-09-16 23:56:35,219][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003919 s, max step_time: 0.022809 s +[2026-09-16 23:56:37,309][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.32 Hz +[2026-09-16 23:56:44,590][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.83 Hz +[2026-09-16 23:56:47,313][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.60 Hz +[2026-09-16 23:56:54,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.39 Hz +[2026-09-16 23:56:57,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.03 Hz +[2026-09-16 23:57:02,377][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.38 iterations per second over 30.00 seconds. +[2026-09-16 23:57:02,378][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 138 times, mean step_time: 0.004010 s, max step_time: 0.025958 s +[2026-09-16 23:57:04,145][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:57:04,145][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:57:04,592][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.56 Hz +[2026-09-16 23:57:05,220][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.56 iterations per second over 30.00 seconds. +[2026-09-16 23:57:05,220][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 146 times, mean step_time: 0.004023 s, max step_time: 0.029222 s +[2026-09-16 23:57:07,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.92 Hz +[2026-09-16 23:57:14,594][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.14 Hz +[2026-09-16 23:57:17,320][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.26 Hz +[2026-09-16 23:57:24,598][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.62 Hz +[2026-09-16 23:57:27,321][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.57 Hz +[2026-09-16 23:57:32,378][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.73 iterations per second over 30.00 seconds. +[2026-09-16 23:57:32,378][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 116 times, mean step_time: 0.003973 s, max step_time: 0.030040 s +[2026-09-16 23:57:34,602][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.64 Hz +[2026-09-16 23:57:35,220][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.27 iterations per second over 30.00 seconds. +[2026-09-16 23:57:35,220][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 115 times, mean step_time: 0.003980 s, max step_time: 0.021017 s +[2026-09-16 23:57:37,325][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.03 Hz +[2026-09-16 23:57:44,602][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 +[2026-09-16 23:57:47,328][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.34 Hz +[2026-09-16 23:57:51,149][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:57:51,150][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:57:54,603][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.92 Hz +[2026-09-16 23:57:57,334][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.60 Hz +[2026-09-16 23:58:02,379][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.63 iterations per second over 30.00 seconds. +[2026-09-16 23:58:02,379][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 138 times, mean step_time: 0.003990 s, max step_time: 0.060693 s +[2026-09-16 23:58:04,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.19 Hz +[2026-09-16 23:58:05,222][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.52 iterations per second over 30.00 seconds. +[2026-09-16 23:58:05,223][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 143 times, mean step_time: 0.004008 s, max step_time: 0.024995 s +[2026-09-16 23:58:07,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.75 Hz +[2026-09-16 23:58:14,608][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.10 Hz +[2026-09-16 23:58:17,338][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.53 Hz +[2026-09-16 23:58:24,612][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.65 Hz +[2026-09-16 23:58:26,660][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:58:26,660][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 23:58:27,338][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 +[2026-09-16 23:58:32,379][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.96 iterations per second over 30.00 seconds. +[2026-09-16 23:58:32,379][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 137 times, mean step_time: 0.004001 s, max step_time: 0.033008 s +[2026-09-16 23:58:34,610][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.99 Hz +[2026-09-16 23:58:35,224][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.01 iterations per second over 30.00 seconds. +[2026-09-16 23:58:35,225][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 125 times, mean step_time: 0.003984 s, max step_time: 0.029400 s +[2026-09-16 23:58:37,340][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.44 Hz +[2026-09-16 23:58:44,611][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.50 Hz +[2026-09-16 23:58:47,345][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 +[2026-09-16 23:58:54,611][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.09 Hz +[2026-09-16 23:58:57,347][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.45 Hz +[2026-09-16 23:59:02,382][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.71 iterations per second over 30.00 seconds. +[2026-09-16 23:59:02,382][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 77 times, mean step_time: 0.003895 s, max step_time: 0.012665 s +[2026-09-16 23:59:04,617][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.74 Hz +[2026-09-16 23:59:05,227][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.28 iterations per second over 30.00 seconds. +[2026-09-16 23:59:05,227][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 83 times, mean step_time: 0.003917 s, max step_time: 0.019085 s +[2026-09-16 23:59:07,348][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.97 Hz +[2026-09-16 23:59:14,619][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.43 Hz +[2026-09-16 23:59:17,348][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.70 Hz +[2026-09-16 23:59:24,621][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.07 Hz +[2026-09-16 23:59:27,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.22 Hz +[2026-09-16 23:59:32,385][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 264.03 iterations per second over 30.00 seconds. +[2026-09-16 23:59:32,385][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003787 s, max step_time: 0.010243 s +[2026-09-16 23:59:34,622][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 266.35 Hz +[2026-09-16 23:59:35,229][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 263.25 iterations per second over 30.00 seconds. +[2026-09-16 23:59:35,229][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003799 s, max step_time: 0.009704 s +[2026-09-16 23:59:37,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.16 Hz +[2026-09-16 23:59:40,607][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 275.97 iterations per second over 5.38 seconds. +[2026-09-16 23:59:40,612][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.80 iterations per second over 8.23 seconds. +[2026-09-16 23:59:42,408][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:59:42,409][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:59:42,409][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:59:42,409][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:59:42,410][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:59:42,410][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:59:42,410][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:59:42,410][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:59:42,410][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:59:42,411][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:59:42,411][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:59:42,411][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:59:42,411][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:59:42,411][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:59:42,411][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:59:42,411][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-16 23:59:42,411][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 23:59:42,412][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 23:59:42,412][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:59:42,412][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:59:42,412][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:59:42,412][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:59:42,412][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:59:42,412][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:59:42,412][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:59:42,412][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:59:42,412][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:59:42,412][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:59:42,412][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:59:42,412][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:59:42,413][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:59:42,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:59:42,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:59:42,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:59:42,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:59:42,468][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:42,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:59:42,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:59:42,501][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:42,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:59:42,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:59:42,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:42,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:59:42,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:59:42,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:42,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:59:42,587][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:59:42,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:42,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:59:42,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:59:42,631][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:42,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:59:42,642][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:59:42,642][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:59:42,642][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:59:42,696][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:59:42,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:59:42,804][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:59:42,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:59:42,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:59:42,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:59:43,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:59:43,020][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 23:59:43,021][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:59:43,021][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:59:43,031][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:59:43,037][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:59:43,043][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:59:43,049][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:59:43,055][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:59:43,061][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:59:43,067][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:59:43,073][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=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:59:43,073][root][INFO] - current_pos: [-0.024605172808422893, -0.0001907377737087046, 0.0017166399633783413, 0.000953688868543523, 0.0036240177004653873, 0.0829709315632865, 0.022316319523918438] +[2026-09-16 23:59:43,073][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:59:43,073][root][INFO] - starting separate thread for control loop +[2026-09-16 23:59:43,173][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.03418803418803407, pos=-0.024605172808422893, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789574383.1739147), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.0001907377737087046, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789574383.1739147), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1789574383.1739147), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=36.0, temp_rotor=39.0, timestamp=1789574383.1739147), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0366300366300365, eff=0.0024420024420024333, pos=0.0036240177004653873, voltage=-1, temp_mos=32.0, temp_rotor=30.0, timestamp=1789574383.1739147), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.0024420024420024333, pos=0.08335240711070391, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789574383.1739147), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789574383.1739147)] +[2026-09-16 23:59:43,174][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:59:43,174][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-16 23:59:43,174][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:59:43,794][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:59:44,094][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:59:44,716][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:59:45,016][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.27409018081941, -0.00705729762722207) +[2026-09-16 23:59:45,017][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27409018 -0.0070573 ] +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:59:45,253][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:59:45,253][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:59:45,253][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:59:45,253][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:59:45,254][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:59:45,255][root][INFO] - initializing, .... +[2026-09-16 23:59:45,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:59:45,275][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:45,286][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:59:45,297][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:59:45,308][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:45,319][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:59:45,331][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:59:45,342][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:45,353][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:59:45,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:59:45,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:45,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:59:45,396][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:59:45,407][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:45,418][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:59:45,429][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:59:45,439][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:45,450][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:59:45,461][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:59:45,472][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:59:45,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:59:45,483][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:59:45,483][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 23:59:45,483][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:59:45,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:59:45,591][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:59:45,645][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-16 23:59:45,699][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:59:45,753][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:59:45,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:59:45,860][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 23:59:45,860][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-16 23:59:45,861][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:59:45,861][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:59:45,871][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:59:45,876][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:59:45,883][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:59:45,891][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:59:45,897][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:59:45,903][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:59:45,909][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:59:45,915][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:59:45,915][root][INFO] - current_pos: [-0.014305333028152845, -0.0013351644159609322, 0.0005722133211261138, 0.0017166399633783413, -0.008583199816891707, 0.02651255054550994, -0.0036240177004653873] +[2026-09-16 23:59:45,915][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:59:45,915][root][INFO] - starting separate thread for control loop +[2026-09-16 23:59:46,015][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=-0.014305333028152845, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789574386.0157382), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789574386.0157382), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789574386.0157382), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789574386.0157382), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.008583199816891707, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789574386.0157382), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.02651255054550994, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789574386.0157382), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.0036240177004653873, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789574386.0157382)] +[2026-09-16 23:59:46,015][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:59:46,015][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0036 +[2026-09-16 23:59:46,016][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:59:46,631][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-16 23:59:46,932][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:59:47,604][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:59:47,904][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253109025711453, -0.01087205310139261) +[2026-09-16 23:59:47,905][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25310903 -0.01087205] +[2026-09-16 23:59:48,039][root][INFO] - initializing, .... +[2026-09-16 23:59:55,259][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.70 Hz +[2026-09-16 23:59:58,040][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.40 Hz +[2026-09-17 00:00:05,262][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.04 Hz +[2026-09-17 00:00:08,043][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.14 Hz +[2026-09-17 00:00:11,525][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:00:11,525][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:00:13,075][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.52 iterations per second over 30.00 seconds. +[2026-09-17 00:00:13,075][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004007 s, max step_time: 0.061660 s +[2026-09-17 00:00:15,265][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 00:00:15,916][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.70 iterations per second over 30.00 seconds. +[2026-09-17 00:00:15,916][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004037 s, max step_time: 0.066845 s +[2026-09-17 00:00:18,044][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.95 Hz +[2026-09-17 00:00:25,265][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.98 Hz +[2026-09-17 00:00:28,046][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.93 Hz +[2026-09-17 00:00:35,267][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.66 Hz +[2026-09-17 00:00:38,048][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.47 Hz +[2026-09-17 00:00:43,079][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.34 iterations per second over 30.00 seconds. +[2026-09-17 00:00:43,079][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003979 s, max step_time: 0.008487 s +[2026-09-17 00:00:45,271][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.02 Hz +[2026-09-17 00:00:45,916][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.76 iterations per second over 30.00 seconds. +[2026-09-17 00:00:45,916][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.004020 s, max step_time: 0.010113 s +[2026-09-17 00:00:46,344][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:00:46,345][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:00:48,051][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.33 Hz +[2026-09-17 00:00:55,274][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.43 Hz +[2026-09-17 00:00:58,051][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.69 Hz +[2026-09-17 00:01:05,277][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.22 Hz +[2026-09-17 00:01:08,052][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.97 Hz +[2026-09-17 00:01:13,080][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.89 iterations per second over 30.00 seconds. +[2026-09-17 00:01:13,080][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.004002 s, max step_time: 0.021970 s +[2026-09-17 00:01:15,281][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.72 Hz +[2026-09-17 00:01:15,920][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.73 iterations per second over 30.00 seconds. +[2026-09-17 00:01:15,921][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.004020 s, max step_time: 0.020338 s +[2026-09-17 00:01:18,054][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.46 Hz +[2026-09-17 00:01:25,281][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.89 Hz +[2026-09-17 00:01:26,810][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:01:26,811][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:01:28,055][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 00:01:35,284][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.92 Hz +[2026-09-17 00:01:38,057][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.14 Hz +[2026-09-17 00:01:43,081][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.73 iterations per second over 30.00 seconds. +[2026-09-17 00:01:43,081][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003973 s, max step_time: 0.057912 s +[2026-09-17 00:01:45,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.65 Hz +[2026-09-17 00:01:45,921][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.29 iterations per second over 30.00 seconds. +[2026-09-17 00:01:45,921][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003964 s, max step_time: 0.045331 s +[2026-09-17 00:01:48,057][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.28 Hz +[2026-09-17 00:01:55,288][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.83 Hz +[2026-09-17 00:01:58,061][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.75 Hz +[2026-09-17 00:01:59,109][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:01:59,109][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:02:05,292][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.92 Hz +[2026-09-17 00:02:08,061][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.45 Hz +[2026-09-17 00:02:13,084][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.40 iterations per second over 30.00 seconds. +[2026-09-17 00:02:13,084][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003978 s, max step_time: 0.032673 s +[2026-09-17 00:02:15,294][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.83 Hz +[2026-09-17 00:02:15,924][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.07 iterations per second over 30.00 seconds. +[2026-09-17 00:02:15,925][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003983 s, max step_time: 0.027126 s +[2026-09-17 00:02:18,063][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.06 Hz +[2026-09-17 00:02:25,297][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.84 Hz +[2026-09-17 00:02:28,067][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.09 Hz +[2026-09-17 00:02:29,577][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:02:29,578][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:02:35,301][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.38 Hz +[2026-09-17 00:02:38,069][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.05 Hz +[2026-09-17 00:02:43,086][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.08 iterations per second over 30.00 seconds. +[2026-09-17 00:02:43,086][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003951 s, max step_time: 0.040154 s +[2026-09-17 00:02:45,305][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.71 Hz +[2026-09-17 00:02:45,925][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.22 iterations per second over 30.00 seconds. +[2026-09-17 00:02:45,925][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003980 s, max step_time: 0.024535 s +[2026-09-17 00:02:48,072][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.05 Hz +[2026-09-17 00:02:55,305][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.88 Hz +[2026-09-17 00:02:58,074][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.21 Hz +[2026-09-17 00:03:05,308][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.43 Hz +[2026-09-17 00:03:08,078][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.91 Hz +[2026-09-17 00:03:08,624][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:03:08,625][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:03:13,090][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.61 iterations per second over 30.00 seconds. +[2026-09-17 00:03:13,090][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004006 s, max step_time: 0.059230 s +[2026-09-17 00:03:15,309][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.07 Hz +[2026-09-17 00:03:15,929][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.20 iterations per second over 30.00 seconds. +[2026-09-17 00:03:15,929][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003981 s, max step_time: 0.063210 s +[2026-09-17 00:03:18,081][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.23 Hz +[2026-09-17 00:03:25,312][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.53 Hz +[2026-09-17 00:03:28,080][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.60 Hz +[2026-09-17 00:03:35,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.23 Hz +[2026-09-17 00:03:38,081][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.19 Hz +[2026-09-17 00:03:43,093][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.54 iterations per second over 30.00 seconds. +[2026-09-17 00:03:43,093][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 106 times, mean step_time: 0.003976 s, max step_time: 0.015178 s +[2026-09-17 00:03:45,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.97 Hz +[2026-09-17 00:03:45,932][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.81 iterations per second over 30.00 seconds. +[2026-09-17 00:03:45,932][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 119 times, mean step_time: 0.004003 s, max step_time: 0.017625 s +[2026-09-17 00:03:48,084][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.73 Hz +[2026-09-17 00:03:49,267][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:03:49,267][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:03:55,320][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.01 Hz +[2026-09-17 00:03:58,093][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.51 Hz +[2026-09-17 00:04:05,321][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.86 Hz +[2026-09-17 00:04:08,088][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.29 Hz +[2026-09-17 00:04:13,093][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.33 iterations per second over 30.00 seconds. +[2026-09-17 00:04:13,093][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 106 times, mean step_time: 0.003932 s, max step_time: 0.039794 s +[2026-09-17 00:04:15,324][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.34 Hz +[2026-09-17 00:04:15,933][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.16 iterations per second over 30.00 seconds. +[2026-09-17 00:04:15,933][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 106 times, mean step_time: 0.003935 s, max step_time: 0.062140 s +[2026-09-17 00:04:18,091][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.11 Hz +[2026-09-17 00:04:25,326][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.64 Hz +[2026-09-17 00:04:27,214][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:04:27,214][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:04:28,092][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.08 Hz +[2026-09-17 00:04:35,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.62 Hz +[2026-09-17 00:04:38,096][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.11 Hz +[2026-09-17 00:04:43,095][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.35 iterations per second over 30.00 seconds. +[2026-09-17 00:04:43,095][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 114 times, mean step_time: 0.003947 s, max step_time: 0.022135 s +[2026-09-17 00:04:45,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.60 Hz +[2026-09-17 00:04:45,937][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.47 iterations per second over 30.00 seconds. +[2026-09-17 00:04:45,937][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 111 times, mean step_time: 0.003961 s, max step_time: 0.023605 s +[2026-09-17 00:04:48,099][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.22 Hz +[2026-09-17 00:04:55,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.72 Hz +[2026-09-17 00:04:58,100][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.27 Hz +[2026-09-17 00:05:05,067][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:05:05,067][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 00:05:05,335][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.06 Hz +[2026-09-17 00:05:08,103][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.96 Hz +[2026-09-17 00:05:13,096][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.00 iterations per second over 30.00 seconds. +[2026-09-17 00:05:13,096][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 121 times, mean step_time: 0.003984 s, max step_time: 0.023736 s +[2026-09-17 00:05:15,338][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.32 Hz +[2026-09-17 00:05:15,378][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.83 iterations per second over 29.44 seconds. +[2026-09-17 00:05:15,403][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 267.80 iterations per second over 2.31 seconds. diff --git a/eval/YAM/V2/dp/bowl_handoff/metadata/runtime/output.lock b/eval/YAM/V2/dp/bowl_handoff/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/eval/YAM/V2/dp/spatula_handoff/data/round_0003/debug/validations/validation_0008.json b/eval/YAM/V2/dp/spatula_handoff/data/round_0003/debug/validations/validation_0008.json new file mode 100644 index 0000000000000000000000000000000000000000..1bd9d100dbca304c664a5c17838693acab6e7c8c --- /dev/null +++ b/eval/YAM/V2/dp/spatula_handoff/data/round_0003/debug/validations/validation_0008.json @@ -0,0 +1,195 @@ +{ + "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 + ], + "current": [ + -0.015449759670405072, + 0.1787212939650562, + 0.00705729762722207, + 0.3915846494239723, + 0.4499504081788359, + 1.1266880292973216, + 0.08923014610154781, + 0.07839322499427759, + 1.5424963759822994, + 1.123254749370565, + -0.8680476081483146, + -0.14896620126649474, + -0.3255893797207623, + 0.005879678563671946 + ], + "current_velocity": [ + -0.0024420024420024333, + 0.0024420024420024333, + 0.012210012210012167, + -0.0219780219780219, + -0.0073260073260073, + -0.0073260073260073, + 0.00013334456661521563, + -0.012210012210012167, + 0.0073260073260073, + 0.0024420024420024333, + -0.0073260073260073, + -0.0073260073260073, + -0.0073260073260073, + 0.00013347006284094486 + ], + "first_target": [ + -0.02049899287521839, + 0.21142823994159698, + -0.009879766032099724, + 0.38052260875701904, + 0.48198601603507996, + 1.249565601348877, + 0.09437280148267746, + 0.08157762140035629, + 1.5209017992019653, + 1.1479263305664062, + -0.8974629044532776, + -0.15068934857845306, + -0.33663123846054077, + 0.01629195548593998 + ], + "first_transition_velocity": [ + -0.15147699614439958, + 0.9812083792962234, + -0.5081119097796538, + -0.33186122000859797, + 0.9610682356873212, + 3.686327161546661, + 0.15427966143388955, + 0.09553189218236113, + -0.6478373034100215, + 0.7401474358752402, + -0.8824588891488894, + -0.051694419358749855, + -0.3312557621933543, + 0.312368307668041 + ], + "observation_state": [ + -0.015449759550392628, + 0.17872129380702972, + 0.007057297509163618, + 0.3912031650543213, + 0.4499503970146179, + 1.126688003540039, + 0.08923014253377914, + 0.07839322835206985, + 1.5424963235855103, + 1.1232547760009766, + -0.8680475950241089, + -0.14858472347259521, + -0.3255893886089325, + 0.005879678763449192 + ], + "policy_metadata": { + "alignment_wait_ms": 5.2403239969862625, + "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt", + "first_action_minus_state": [ + -0.005049233324825764, + 0.03270694613456726, + -0.01693706400692463, + -0.010680556297302246, + 0.032035619020462036, + 0.12287759780883789, + 0.005142658948898315, + 0.003184393048286438, + -0.021594524383544922, + 0.024671554565429688, + -0.0294153094291687, + -0.002104625105857849, + -0.011041849851608276, + 0.010412276722490788 + ], + "history_anchor_offset": 1, + "history_interval_ms": 33.392317, + "history_sample_stamp_ns": { + "base_0_color": [ + 1789573095752620335, + 1789573095786012652 + ], + "left_wrist_0_color": [ + 1789573095763680888, + 1789573095797211951 + ], + "right_wrist_0_color": [ + 1789573095739546360, + 1789573095772888651 + ], + "robot_state": [ + 1789573095748972822, + 1789573095782783583 + ] + }, + "history_stamp_ns": [ + 1789573095752620335, + 1789573095786012652 + ], + "model_seed": null, + "observation_age_at_response_ms": 102.498903, + "observation_stamp_ns": 1789573095786012652, + "prompt": "spatula_handoff", + "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208", + "request_id": "2f56d845c4d24725b77f810b7afa05eb", + "round_trip_ms": 59.09705399244558, + "server_metadata": { + "action_shape": [ + 32, + 14 + ], + "action_space": "abs_qpos", + "cameras": [ + "base_0", + "left_wrist_0", + "right_wrist_0" + ], + "checkpoint_hashes": { + 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