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b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ebe722b7a8e1f827455c34ba3767b1b194a57d3 --- /dev/null +++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,238 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the right arm to pick up the apple and place it in the bowl. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: 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${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..50b5a3b634df1b4465760e1bf34f047175e023f4 --- /dev/null +++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,163 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Use the right arm to pick up the apple and place it in the bowl." + - run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use + the right arm to pick up the apple and place it in the bowl.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple,run.steps=40 + id: ??? + num: ??? + config_name: openpi_pi0_v2_v3_20eps_20000 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..864cb9337f376ec7074f62337a1bfa27ebde6e5c --- /dev/null +++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,7 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Use the right arm to pick up the apple and place it in the bowl." +- run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_apple diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..c774de4bbd1e4799cb03585325f71ae75006f4a8 --- /dev/null +++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/hydra/openpi_rollout.log @@ -0,0 +1,1619 @@ +[2026-09-20 19:16:23,619][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:16:23,620][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:16:23,620][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:16:23,620][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:16:23,620][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:16:23,620][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:16:23,621][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:16:23,621][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:16:23,621][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:16:23,622][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:16:23,622][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:16:23,622][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:16:23,622][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:16:23,622][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:16:23,622][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:16:23,622][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:16:23,622][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:16:23,622][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:16:23,622][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:16:23,623][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:16:23,623][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:16:23,635][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:16:23,646][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:16:23,657][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:16:23,668][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:16:23,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:23,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:16:23,701][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:16:23,712][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:23,723][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:16:23,735][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:16:23,745][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:23,757][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:16:23,768][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:16:23,779][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:23,790][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:16:23,800][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:16:23,811][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:23,822][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:16:23,833][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:16:23,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:23,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:16:23,854][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 19:16:23,854][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:16:23,855][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:16:23,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:16:23,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:16:24,017][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:16:24,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:16:24,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:16:24,180][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:16:24,234][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:16:24,234][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:16:24,234][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:16:24,234][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:16:24,245][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:16:24,250][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:16:24,257][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:16:24,263][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:16:24,269][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:16:24,275][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:16:24,281][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:16:24,287][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:16:24,287][root][INFO] - current_pos: [-0.03490501258869294, -0.000953688868543523, 0.0024795910582131597, 0.0001907377737087046, 0.0013351644159609322, -0.13561455710688897, 0.019645990691996573] +[2026-09-20 19:16:24,287][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:16:24,287][root][INFO] - starting separate thread for control loop +[2026-09-20 19:16:24,388][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.03418803418803407, pos=-0.03490501258869294, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789902984.3881505), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789902984.3881505), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789902984.3881505), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789902984.3881505), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902984.3881505), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.13561455710688897, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902984.3881505), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.019264515144579164, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902984.3881505)] +[2026-09-20 19:16:24,388][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:16:24,388][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0193 +[2026-09-20 19:16:24,388][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:16:25,071][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 19:16:25,372][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:16:26,001][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:16:26,301][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.00705729762722207) +[2026-09-20 19:16:26,302][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.0070573 ] +[2026-09-20 19:16:26,538][root][INFO] - initializing, .... +[2026-09-20 19:16:26,538][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:16:26,539][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:16:26,539][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:16:26,539][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:16:26,539][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:16:26,539][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:16:26,539][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:16:26,539][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:16:26,539][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:16:26,539][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:16:26,539][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:16:26,539][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:16:26,539][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:16:26,539][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:16:26,539][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:16:26,550][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:16:26,561][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:26,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:16:26,583][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:16:26,593][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:26,604][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:16:26,615][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:16:26,626][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:26,636][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:16:26,647][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:16:26,658][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:26,668][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:16:26,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:16:26,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:26,701][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:16:26,711][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:16:26,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:26,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:16:26,743][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:16:26,754][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:16:26,765][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:16:26,765][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:16:26,765][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:16:26,765][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:16:26,819][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:16:26,872][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:16:26,926][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:16:26,979][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:16:27,033][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:16:27,086][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:16:27,140][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:16:27,140][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:16:27,140][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:16:27,140][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:16:27,151][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:16:27,156][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:16:27,162][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:16:27,168][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:16:27,174][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:16:27,180][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:16:27,186][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:16:27,192][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0)] +[2026-09-20 19:16:27,192][root][INFO] - current_pos: [-0.032234683756771076, -0.0020981155107957505, 0.0005722133211261138, 0.0005722133211261138, -0.008964675364309116, -0.011253528648813571, 3.032539864194705] +[2026-09-20 19:16:27,192][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:16:27,192][root][INFO] - starting separate thread for control loop +[2026-09-20 19:16:27,292][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=-0.032234683756771076, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789902987.2928658), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789902987.2928658), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789902987.2928658), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789902987.2928658), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.008964675364309116, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789902987.2928658), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.011253528648813571, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902987.2928658), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.012210012210012167, pos=3.032539864194705, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902987.2928658)] +[2026-09-20 19:16:27,293][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:16:27,293][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 3.0325 +[2026-09-20 19:16:27,293][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:16:27,806][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:16:28,106][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:16:28,730][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:16:29,030][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.258068207827879, -0.01201647974364839) +[2026-09-20 19:16:29,030][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25806821 -0.01201648] +[2026-09-20 19:16:29,154][root][INFO] - initializing, .... +[2026-09-20 19:16:36,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.74 Hz +[2026-09-20 19:16:39,159][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.20 Hz +[2026-09-20 19:16:44,839][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:16:44,840][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:16:46,545][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.63 Hz +[2026-09-20 19:16:49,157][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.54 Hz +[2026-09-20 19:16:54,291][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.74 iterations per second over 30.00 seconds. +[2026-09-20 19:16:54,291][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003925 s, max step_time: 0.071445 s +[2026-09-20 19:16:56,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.56 Hz +[2026-09-20 19:16:57,195][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.01 iterations per second over 30.00 seconds. +[2026-09-20 19:16:57,196][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003968 s, max step_time: 0.070724 s +[2026-09-20 19:16:59,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.67 Hz +[2026-09-20 19:17:06,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.00 Hz +[2026-09-20 19:17:09,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.62 Hz +[2026-09-20 19:17:16,550][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.62 Hz +[2026-09-20 19:17:19,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.26 Hz +[2026-09-20 19:17:24,294][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.64 iterations per second over 30.00 seconds. +[2026-09-20 19:17:24,294][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003837 s, max step_time: 0.008969 s +[2026-09-20 19:17:26,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.21 Hz +[2026-09-20 19:17:27,196][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.36 iterations per second over 30.00 seconds. +[2026-09-20 19:17:27,200][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003841 s, max step_time: 0.007479 s +[2026-09-20 19:17:29,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.30 Hz +[2026-09-20 19:17:36,555][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.03 Hz +[2026-09-20 19:17:39,163][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.27 Hz +[2026-09-20 19:17:46,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.89 Hz +[2026-09-20 19:17:49,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.45 Hz +[2026-09-20 19:17:54,296][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.95 iterations per second over 30.00 seconds. +[2026-09-20 19:17:54,296][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003938 s, max step_time: 0.014707 s +[2026-09-20 19:17:56,559][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.74 Hz +[2026-09-20 19:17:57,196][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.29 iterations per second over 30.00 seconds. +[2026-09-20 19:17:57,200][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003902 s, max step_time: 0.017867 s +[2026-09-20 19:17:59,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.19 Hz +[2026-09-20 19:18:06,561][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.06 Hz +[2026-09-20 19:18:09,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.01 Hz +[2026-09-20 19:18:16,563][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.93 Hz +[2026-09-20 19:18:19,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.01 Hz +[2026-09-20 19:18:24,297][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.59 iterations per second over 30.00 seconds. +[2026-09-20 19:18:26,388][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.49 iterations per second over 29.19 seconds. +[2026-09-20 19:18:26,395][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 277.47 iterations per second over 2.10 seconds. +[2026-09-20 19:18:28,033][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:18:28,035][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:18:28,035][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:18:28,035][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:18:28,035][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:18:28,035][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:18:28,035][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:18:28,035][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:18:28,035][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:18:28,036][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:18:28,036][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:18:28,036][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:18:28,036][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:18:28,036][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:18:28,036][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:18:28,036][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:18:28,037][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:18:28,037][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:18:28,037][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:18:28,037][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:18:28,038][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:18:28,050][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:18:28,061][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:18:28,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:18:28,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:18:28,094][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:28,105][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:18:28,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:18:28,127][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:28,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:18:28,149][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:18:28,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:28,171][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:18:28,182][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:18:28,193][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:28,204][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:18:28,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:18:28,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:28,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:18:28,247][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:18:28,258][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:28,269][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:18:28,269][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 19:18:28,269][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:18:28,269][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:18:28,323][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:18:28,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:18:28,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:18:28,484][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:18:28,539][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:18:28,593][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:18:28,647][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:18:28,647][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:18:28,647][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:18:28,647][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:18:28,658][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:18:28,663][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:18:28,669][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:18:28,675][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:18:28,681][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:18:28,687][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:18:28,693][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:18:28,700][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 19:18:28,701][root][INFO] - current_pos: [-0.03147173266193626, -0.000953688868543523, 0.0024795910582131597, 0.0001907377737087046, 0.0013351644159609322, -0.14286259250781974, 0.02193484397650103] +[2026-09-20 19:18:28,701][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:18:28,701][root][INFO] - starting separate thread for control loop +[2026-09-20 19:18:28,801][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.03147173266193626, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789903108.8015382), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789903108.8015382), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=33.0, timestamp=1789903108.8015382), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1789903108.8015382), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903108.8015382), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.14286259250781974, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903108.8015382), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.022316319523918438, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903108.8015382)] +[2026-09-20 19:18:28,801][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:18:28,801][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-20 19:18:28,801][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:18:29,427][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-20 19:18:29,727][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:18:30,352][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:18:30,652][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.007438773174639479) +[2026-09-20 19:18:30,652][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.00743877] +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:18:30,888][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:18:30,888][root][INFO] - initializing, .... +[2026-09-20 19:18:30,888][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:18:30,889][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:18:30,889][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:18:30,889][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:18:30,900][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:18:30,911][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:30,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:18:30,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:18:30,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:30,953][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:18:30,964][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:18:30,975][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:30,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:18:30,996][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:18:31,007][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:31,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:18:31,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:18:31,039][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:31,050][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:18:31,061][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:18:31,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:31,082][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:18:31,093][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:18:31,104][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:18:31,114][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:18:31,115][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:18:31,115][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:18:31,115][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:18:31,169][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:18:31,222][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:18:31,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:18:31,330][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:18:31,383][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:18:31,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:18:31,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:18:31,490][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:18:31,491][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:18:31,491][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:18:31,501][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:18:31,507][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:18:31,513][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:18:31,519][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:18:31,525][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:18:31,530][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:18:31,536][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:18:31,542][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=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 19:18:31,542][root][INFO] - current_pos: [-0.028419928282596985, 0.0005722133211261138, 0.000953688868543523, 0.0040054932478827965, -0.06809338521400754, 0.10509651331349623, -0.0013351644159609322] +[2026-09-20 19:18:31,542][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:18:31,543][root][INFO] - starting separate thread for control loop +[2026-09-20 19:18:31,643][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.02051282051282044, pos=-0.028419928282596985, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789903111.643502), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.04786324786324769, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789903111.643502), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789903111.643502), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0040054932478827965, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789903111.643502), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.06809338521400754, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789903111.643502), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.10509651331349623, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903111.643502), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.0009536888685399703, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789903111.643502)] +[2026-09-20 19:18:31,643][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:18:31,643][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-20 19:18:31,643][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:18:32,317][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:18:32,617][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:18:33,246][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-20 19:18:33,546][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.277523460746167, -0.012779430838483208) +[2026-09-20 19:18:33,546][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27752346 -0.01277943] +[2026-09-20 19:18:33,674][root][INFO] - initializing, .... +[2026-09-20 19:18:40,890][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.39 Hz +[2026-09-20 19:18:43,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.46 Hz +[2026-09-20 19:18:50,894][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.12 Hz +[2026-09-20 19:18:52,125][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:18:52,125][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:18:53,676][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.19 Hz +[2026-09-20 19:18:58,701][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.30 iterations per second over 30.00 seconds. +[2026-09-20 19:18:58,702][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003932 s, max step_time: 0.080169 s +[2026-09-20 19:19:00,897][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.41 Hz +[2026-09-20 19:19:01,545][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.71 iterations per second over 30.00 seconds. +[2026-09-20 19:19:01,545][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003972 s, max step_time: 0.085253 s +[2026-09-20 19:19:03,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.82 Hz +[2026-09-20 19:19:10,898][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.10 Hz +[2026-09-20 19:19:13,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.34 Hz +[2026-09-20 19:19:20,900][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.83 Hz +[2026-09-20 19:19:23,682][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.59 Hz +[2026-09-20 19:19:28,703][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.12 iterations per second over 30.00 seconds. +[2026-09-20 19:19:28,703][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003935 s, max step_time: 0.018341 s +[2026-09-20 19:19:28,915][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.05 iterations per second over 27.37 seconds. +[2026-09-20 19:19:28,921][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 275.20 iterations per second over 0.22 seconds. +[2026-09-20 19:19:43,058][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:19:43,060][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:19:43,060][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:19:43,060][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:19:43,060][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:19:43,060][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:19:43,060][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:19:43,060][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:19:43,060][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:19:43,061][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:19:43,061][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:19:43,061][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:19:43,061][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:19:43,061][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:19:43,061][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:19:43,061][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:19:43,062][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:19:43,062][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:19:43,062][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:19:43,062][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:19:43,063][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:19:43,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:19:43,086][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:19:43,097][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:19:43,108][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:19:43,120][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:43,131][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:19:43,141][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:19:43,152][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:43,163][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:19:43,174][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:19:43,185][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:43,195][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:19:43,206][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:19:43,217][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:43,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:19:43,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:19:43,249][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:43,260][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:19:43,271][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:19:43,282][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:43,293][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:19:43,293][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 19:19:43,293][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:19:43,293][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:19:43,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:19:43,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:19:43,455][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:19:43,509][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:19:43,564][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:19:43,618][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:19:43,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:19:43,672][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:19:43,672][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:19:43,672][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:19:43,683][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:19:43,688][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:19:43,695][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:19:43,701][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:19:43,707][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:19:43,714][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:19:43,719][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:19:43,726][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 19:19:43,726][root][INFO] - current_pos: [-0.03109025711451885, -0.000953688868543523, 0.0024795910582131597, 0.0001907377737087046, 0.000953688868543523, -0.1577401388570987, 0.02193484397650103] +[2026-09-20 19:19:43,726][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:19:43,726][root][INFO] - starting separate thread for control loop +[2026-09-20 19:19:43,827][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.006837606837606813, pos=-0.031471732661932705, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789903183.827461), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789903183.827461), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=30.0, temp_rotor=32.0, timestamp=1789903183.827461), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789903183.827461), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789903183.827461), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.1577401388570987, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903183.827461), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.02193484397650103, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903183.827461)] +[2026-09-20 19:19:43,827][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:19:43,827][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0219 +[2026-09-20 19:19:43,827][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:19:44,512][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-20 19:19:44,812][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:19:45,439][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:19:45,739][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-20 19:19:45,740][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-20 19:19:45,977][root][INFO] - initializing, .... +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:19:45,978][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:19:45,978][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:19:45,978][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:19:45,978][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:19:45,979][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:19:45,990][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:19:46,001][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:46,012][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:19:46,023][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:19:46,034][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:46,046][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:19:46,057][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:19:46,068][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:46,079][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:19:46,091][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:19:46,101][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:46,113][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:19:46,124][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:19:46,135][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:46,146][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:19:46,157][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:19:46,168][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:46,179][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:19:46,190][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:19:46,201][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:19:46,212][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:19:46,212][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:19:46,212][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:19:46,213][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:19:46,269][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:19:46,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:19:46,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:19:46,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:19:46,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:19:46,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:19:46,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:19:46,598][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:19:46,599][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:19:46,599][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:19:46,609][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:19:46,615][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:19:46,621][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:19:46,627][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:19:46,633][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:19:46,639][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:19:46,645][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:19:46,651][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 19:19:46,651][root][INFO] - current_pos: [-0.0207904173342488, -0.0001907377737087046, 0.0005722133211261138, 0.0013351644159609322, -0.023460746166170665, -0.05474174105439822, -0.000953688868543523] +[2026-09-20 19:19:46,651][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:19:46,651][root][INFO] - starting separate thread for control loop +[2026-09-20 19:19:46,751][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.0207904173342488, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789903186.7519178), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789903186.7519178), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789903186.7519178), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1789903186.7519178), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.023460746166170665, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789903186.7519178), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.05474174105439822, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789903186.7519178), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789903186.7519178)] +[2026-09-20 19:19:46,752][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:19:46,752][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-20 19:19:46,752][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:19:47,420][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 19:19:47,720][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:19:48,338][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 19:19:48,639][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.277904936293584, -0.011253528648817124) +[2026-09-20 19:19:48,639][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27790494 -0.01125353] +[2026-09-20 19:19:48,766][root][INFO] - initializing, .... +[2026-09-20 19:19:55,983][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.51 Hz +[2026-09-20 19:19:58,771][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.93 Hz +[2026-09-20 19:20:05,129][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:20:05,130][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:20:05,985][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.07 Hz +[2026-09-20 19:20:08,062][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.26 iterations per second over 21.41 seconds. +[2026-09-20 19:20:08,070][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.60 iterations per second over 24.34 seconds. +[2026-09-20 21:18:20,435][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:18:20,437][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:18:20,437][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:18:20,437][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:18:20,437][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:18:20,437][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:18:20,437][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:18:20,437][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:18:20,437][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 21:18:20,438][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:18:20,438][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:18:20,438][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:18:20,438][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:18:20,438][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:18:20,438][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:18:20,438][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:18:20,439][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:18:20,439][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:18:20,439][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:18:20,439][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:18:20,440][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:18:20,451][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:18:20,462][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:18:20,474][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:18:20,485][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:18:20,496][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:20,506][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:18:20,518][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:18:20,529][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:20,540][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:18:20,551][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:18:20,563][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:20,573][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:18:20,585][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:18:20,596][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:20,606][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:18:20,617][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:18:20,628][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:20,639][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:18:20,650][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:18:20,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:20,671][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:18:20,671][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 21:18:20,671][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:18:20,672][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:18:20,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:18:20,780][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:18:20,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:18:20,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:18:20,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:18:20,995][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:18:21,049][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:18:21,049][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:18:21,050][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:18:21,050][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:18:21,060][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:18:21,066][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:18:21,072][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:18:21,078][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:18:21,084][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:18:21,090][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:18:21,096][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:18:21,103][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:18:21,103][root][INFO] - current_pos: [-0.018120088502326936, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.008583199816891707, 0.05321583886472858, -0.000953688868543523] +[2026-09-20 21:18:21,103][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:18:21,103][root][INFO] - starting separate thread for control loop +[2026-09-20 21:18:21,204][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.018120088502326936, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789910301.2043653), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910301.2043653), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789910301.2043653), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1789910301.2043653), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.008583199816891707, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789910301.2043653), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.05321583886472858, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910301.2043653), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.0013351644159644849, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910301.2043653)] +[2026-09-20 21:18:21,204][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:18:21,204][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013 +[2026-09-20 21:18:21,204][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:18:21,830][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-20 21:18:22,131][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:18:22,760][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 21:18:23,060][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032) +[2026-09-20 21:18:23,060][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-20 21:18:23,303][root][INFO] - initializing, .... +[2026-09-20 21:18:23,303][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:18:23,304][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:18:23,304][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:18:23,304][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:18:23,304][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:18:23,304][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:18:23,304][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:18:23,304][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:18:23,304][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:18:23,304][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:18:23,304][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:18:23,304][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:18:23,304][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 21:18:23,304][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:18:23,304][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:18:23,315][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:18:23,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:23,338][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:18:23,349][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:18:23,361][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:23,372][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:18:23,383][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:18:23,395][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:23,406][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:18:23,417][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:18:23,428][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:23,440][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:18:23,451][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:18:23,461][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:23,472][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:18:23,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:18:23,494][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:23,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:18:23,517][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:18:23,528][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:18:23,539][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:18:23,539][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.24 s (7 motor(s)) +[2026-09-20 21:18:23,539][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:18:23,540][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:18:23,596][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:18:23,650][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:18:23,704][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:18:23,757][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:18:23,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:18:23,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:18:23,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:18:23,924][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:18:23,924][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:18:23,924][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:18:23,936][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:18:23,941][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:18:23,948][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:18:23,954][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:18:23,959][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:18:23,967][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:18:23,975][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:18:23,981][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 21:18:23,981][root][INFO] - current_pos: [-0.12531471732661892, -0.0020981155107957505, 0.06504158083466827, -0.15011062790875052, -0.07152666514076422, -0.10509651331349623, 0.006294346532387252] +[2026-09-20 21:18:23,981][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:18:23,981][root][INFO] - starting separate thread for control loop +[2026-09-20 21:18:24,082][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.04786324786324769, pos=-0.12531471732661892, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789910304.0820484), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789910304.0820484), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.06504158083466827, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1789910304.0820484), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.15011062790875052, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1789910304.0820484), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.07152666514076422, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789910304.0820484), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.10509651331349623, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789910304.0820484), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.012210012210012167, pos=0.006294346532387252, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910304.0820484)] +[2026-09-20 21:18:24,082][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:18:24,082][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063 +[2026-09-20 21:18:24,082][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:18:24,754][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 21:18:25,054][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:18:25,718][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 21:18:26,018][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.265697718776227, -0.011253528648817124) +[2026-09-20 21:18:26,018][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26569772 -0.01125353] +[2026-09-20 21:18:26,152][root][INFO] - initializing, .... +[2026-09-20 21:18:33,306][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.28 Hz +[2026-09-20 21:18:36,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.34 Hz +[2026-09-20 21:18:43,308][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.76 Hz +[2026-09-20 21:18:43,792][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:18:43,792][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:18:46,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.58 Hz +[2026-09-20 21:18:51,104][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.83 iterations per second over 30.00 seconds. +[2026-09-20 21:18:51,104][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003939 s, max step_time: 0.065875 s +[2026-09-20 21:18:53,310][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.85 Hz +[2026-09-20 21:18:53,983][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.88 iterations per second over 30.00 seconds. +[2026-09-20 21:18:53,984][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003970 s, max step_time: 0.075560 s +[2026-09-20 21:18:56,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.96 Hz +[2026-09-20 21:19:03,312][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.15 Hz +[2026-09-20 21:19:06,159][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.85 Hz +[2026-09-20 21:19:13,316][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.71 Hz +[2026-09-20 21:19:16,161][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.06 Hz +[2026-09-20 21:19:21,105][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.13 iterations per second over 30.00 seconds. +[2026-09-20 21:19:21,105][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003966 s, max step_time: 0.012341 s +[2026-09-20 21:19:23,316][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.57 Hz +[2026-09-20 21:19:23,984][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.33 iterations per second over 30.00 seconds. +[2026-09-20 21:19:23,984][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003979 s, max step_time: 0.008536 s +[2026-09-20 21:19:26,161][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.29 Hz +[2026-09-20 21:19:27,799][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:19:27,799][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:19:33,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.53 Hz +[2026-09-20 21:19:36,161][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.89 Hz +[2026-09-20 21:19:43,318][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.00 Hz +[2026-09-20 21:19:46,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.98 Hz +[2026-09-20 21:19:51,108][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.84 iterations per second over 30.00 seconds. +[2026-09-20 21:19:51,108][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003878 s, max step_time: 0.029690 s +[2026-09-20 21:19:53,320][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.27 Hz +[2026-09-20 21:19:53,985][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.66 iterations per second over 30.00 seconds. +[2026-09-20 21:19:53,985][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003866 s, max step_time: 0.027654 s +[2026-09-20 21:19:56,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.83 Hz +[2026-09-20 21:20:03,324][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.31 Hz +[2026-09-20 21:20:06,167][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.25 Hz +[2026-09-20 21:20:13,324][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.57 Hz +[2026-09-20 21:20:15,702][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:20:15,702][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:20:16,171][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.92 Hz +[2026-09-20 21:20:21,110][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.31 iterations per second over 30.00 seconds. +[2026-09-20 21:20:21,110][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003932 s, max step_time: 0.019937 s +[2026-09-20 21:20:23,325][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.89 Hz +[2026-09-20 21:20:23,988][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.01 iterations per second over 30.00 seconds. +[2026-09-20 21:20:23,988][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003937 s, max step_time: 0.018427 s +[2026-09-20 21:20:26,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.15 Hz +[2026-09-20 21:20:33,325][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.59 Hz +[2026-09-20 21:20:36,175][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.73 Hz +[2026-09-20 21:20:43,327][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.17 Hz +[2026-09-20 21:20:46,176][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.69 Hz +[2026-09-20 21:20:51,113][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.05 iterations per second over 30.00 seconds. +[2026-09-20 21:20:51,113][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003921 s, max step_time: 0.008271 s +[2026-09-20 21:20:53,329][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.15 Hz +[2026-09-20 21:20:53,989][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.76 iterations per second over 30.00 seconds. +[2026-09-20 21:20:53,989][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003956 s, max step_time: 0.008470 s +[2026-09-20 21:20:56,179][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.22 Hz +[2026-09-20 21:21:03,331][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.78 Hz +[2026-09-20 21:21:05,195][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:21:05,195][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:21:06,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.99 Hz +[2026-09-20 21:21:13,332][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.76 Hz +[2026-09-20 21:21:16,183][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.91 Hz +[2026-09-20 21:21:21,113][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.43 iterations per second over 30.00 seconds. +[2026-09-20 21:21:21,113][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003930 s, max step_time: 0.030124 s +[2026-09-20 21:21:23,332][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.99 Hz +[2026-09-20 21:21:23,992][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.54 iterations per second over 30.00 seconds. +[2026-09-20 21:21:23,992][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003913 s, max step_time: 0.029482 s +[2026-09-20 21:21:26,183][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.40 Hz +[2026-09-20 21:21:33,334][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.24 Hz +[2026-09-20 21:21:36,183][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.18 Hz +[2026-09-20 21:21:43,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.74 Hz +[2026-09-20 21:21:46,187][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.14 Hz +[2026-09-20 21:21:51,118][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.32 iterations per second over 30.00 seconds. +[2026-09-20 21:21:51,118][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003841 s, max step_time: 0.007892 s +[2026-09-20 21:21:53,339][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.04 Hz +[2026-09-20 21:21:53,992][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.49 iterations per second over 30.00 seconds. +[2026-09-20 21:21:53,992][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003854 s, max step_time: 0.009089 s +[2026-09-20 21:21:56,189][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.23 Hz +[2026-09-20 21:22:03,341][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.53 Hz +[2026-09-20 21:22:06,193][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.59 Hz +[2026-09-20 21:22:13,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.07 Hz +[2026-09-20 21:22:16,195][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.73 Hz +[2026-09-20 21:22:21,121][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.64 iterations per second over 30.00 seconds. +[2026-09-20 21:22:21,121][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 40 times, mean step_time: 0.003822 s, max step_time: 0.010437 s +[2026-09-20 21:22:23,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.55 Hz +[2026-09-20 21:22:23,994][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.55 iterations per second over 30.00 seconds. +[2026-09-20 21:22:23,994][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003823 s, max step_time: 0.010163 s +[2026-09-20 21:22:26,198][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.34 Hz +[2026-09-20 21:22:33,348][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.23 Hz +[2026-09-20 21:22:36,199][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.65 Hz +[2026-09-20 21:22:43,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.11 Hz +[2026-09-20 21:22:46,201][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.86 Hz +[2026-09-20 21:22:51,122][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.06 iterations per second over 30.00 seconds. +[2026-09-20 21:22:51,122][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.003845 s, max step_time: 0.009325 s +[2026-09-20 21:22:53,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.50 Hz +[2026-09-20 21:22:53,995][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.03 iterations per second over 30.00 seconds. +[2026-09-20 21:22:53,995][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.003846 s, max step_time: 0.011419 s +[2026-09-20 21:22:56,205][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.41 Hz +[2026-09-20 21:23:03,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.64 Hz +[2026-09-20 21:23:06,205][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.48 Hz +[2026-09-20 21:23:13,356][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.97 Hz +[2026-09-20 21:23:16,208][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.55 Hz +[2026-09-20 21:23:21,123][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.49 iterations per second over 30.00 seconds. +[2026-09-20 21:23:21,124][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 66 times, mean step_time: 0.003914 s, max step_time: 0.011213 s +[2026-09-20 21:23:23,358][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.91 Hz +[2026-09-20 21:23:23,999][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.73 iterations per second over 30.00 seconds. +[2026-09-20 21:23:23,999][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 64 times, mean step_time: 0.003910 s, max step_time: 0.011002 s +[2026-09-20 21:23:26,210][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.62 Hz +[2026-09-20 21:23:33,358][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.69 Hz +[2026-09-20 21:23:36,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.55 Hz +[2026-09-20 21:23:43,361][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.33 Hz +[2026-09-20 21:23:46,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.57 Hz +[2026-09-20 21:23:51,125][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.15 iterations per second over 30.00 seconds. +[2026-09-20 21:23:51,125][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 62 times, mean step_time: 0.003889 s, max step_time: 0.022418 s +[2026-09-20 21:23:53,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.82 Hz +[2026-09-20 21:23:53,486][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.45 iterations per second over 29.49 seconds. +[2026-09-20 21:23:53,492][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.96 iterations per second over 2.37 seconds. +[2026-09-20 21:24:11,497][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:24:11,499][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:24:11,499][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:24:11,499][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:24:11,499][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:24:11,499][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:24:11,499][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:24:11,499][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:24:11,499][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 21:24:11,500][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:24:11,500][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:24:11,500][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:24:11,500][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:24:11,500][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:24:11,500][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:24:11,500][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:24:11,501][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:24:11,501][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:24:11,501][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:24:11,501][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:24:11,502][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:24:11,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:24:11,524][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:24:11,535][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:24:11,546][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:24:11,557][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:11,568][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:24:11,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:24:11,589][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:11,600][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:24:11,611][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:24:11,622][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:11,633][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:24:11,644][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:24:11,656][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:11,667][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:24:11,678][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:24:11,688][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:11,699][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:24:11,710][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:24:11,721][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:11,732][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:24:11,732][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 21:24:11,732][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:24:11,733][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:24:11,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:24:11,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:24:11,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:24:11,953][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:24:12,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:24:12,065][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:24:12,121][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:24:12,121][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:24:12,121][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:24:12,121][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:24:12,133][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:24:12,139][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:24:12,144][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:24:12,152][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:24:12,158][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:24:12,164][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:24:12,171][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:24:12,177][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:24:12,177][root][INFO] - current_pos: [-0.010490577553978753, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, 0.04863813229571967, 0.022316319523918438] +[2026-09-20 21:24:12,177][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:24:12,177][root][INFO] - starting separate thread for control loop +[2026-09-20 21:24:12,278][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.02051282051282044, pos=-0.010490577553978753, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789910652.2782085), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910652.2782085), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789910652.2782085), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789910652.2782085), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789910652.2782085), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910652.2782085), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910652.2782085)] +[2026-09-20 21:24:12,279][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:24:12,279][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-20 21:24:12,279][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:24:12,964][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-20 21:24:13,264][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:24:13,891][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 21:24:14,192][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174639479) +[2026-09-20 21:24:14,193][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00743877] +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:24:14,434][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:24:14,434][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:24:14,434][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 21:24:14,434][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:24:14,435][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:24:14,435][root][INFO] - initializing, .... +[2026-09-20 21:24:14,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:24:14,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:14,468][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:24:14,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:24:14,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:14,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:24:14,511][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:24:14,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:14,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:24:14,544][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:24:14,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:14,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:24:14,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:24:14,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:14,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:24:14,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:24:14,620][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:14,631][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:24:14,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:24:14,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:24:14,663][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:24:14,663][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 21:24:14,663][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:24:14,664][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:24:14,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:24:14,771][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:24:14,825][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:24:14,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:24:14,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:24:14,985][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:24:15,039][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:24:15,039][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:24:15,040][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:24:15,040][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:24:15,050][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:24:15,055][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:24:15,061][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:24:15,067][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:24:15,073][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:24:15,079][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:24:15,085][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:24:15,092][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 21:24:15,092][root][INFO] - current_pos: [0.013923857480735435, -0.0013351644159609322, 0.000953688868543523, 0.000953688868543523, -0.004768444342717615, -0.052071412222476354, 1.6126878767071027] +[2026-09-20 21:24:15,092][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:24:15,092][root][INFO] - starting separate thread for control loop +[2026-09-20 21:24:15,193][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.02051282051282044, pos=0.013923857480735435, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789910655.1929433), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789910655.1929433), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789910655.1929433), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789910655.1929433), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.004768444342717615, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789910655.1929433), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.052071412222476354, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789910655.1929433), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=1.6123064011596853, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910655.1929433)] +[2026-09-20 21:24:15,193][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:24:15,193][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.6123 +[2026-09-20 21:24:15,193][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:24:15,811][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 21:24:16,111][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:24:16,735][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 21:24:17,036][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.254634927901122, -0.011253528648813571) +[2026-09-20 21:24:17,036][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25463493 -0.01125353] +[2026-09-20 21:24:17,173][root][INFO] - initializing, .... +[2026-09-20 21:24:24,440][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.11 Hz +[2026-09-20 21:24:27,178][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.72 Hz +[2026-09-20 21:24:34,442][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.07 Hz +[2026-09-20 21:24:37,181][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.70 Hz +[2026-09-20 21:24:38,138][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:24:38,138][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:24:42,179][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.78 iterations per second over 30.00 seconds. +[2026-09-20 21:24:42,180][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003940 s, max step_time: 0.064338 s +[2026-09-20 21:24:44,444][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.73 Hz +[2026-09-20 21:24:45,093][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.90 iterations per second over 30.00 seconds. +[2026-09-20 21:24:45,093][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003985 s, max step_time: 0.065354 s +[2026-09-20 21:24:47,184][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.32 Hz +[2026-09-20 21:24:54,445][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.57 Hz +[2026-09-20 21:24:57,185][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.57 Hz +[2026-09-20 21:25:04,445][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.19 Hz +[2026-09-20 21:25:07,188][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.84 Hz +[2026-09-20 21:25:12,183][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.84 iterations per second over 30.00 seconds. +[2026-09-20 21:25:12,183][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003924 s, max step_time: 0.009536 s +[2026-09-20 21:25:14,446][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.08 Hz +[2026-09-20 21:25:14,871][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:25:14,871][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:25:15,093][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.59 iterations per second over 30.00 seconds. +[2026-09-20 21:25:15,093][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003959 s, max step_time: 0.020038 s +[2026-09-20 21:25:17,191][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.13 Hz +[2026-09-20 21:25:24,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.55 Hz +[2026-09-20 21:25:27,195][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.17 Hz +[2026-09-20 21:25:34,448][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.89 Hz +[2026-09-20 21:25:37,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.44 Hz +[2026-09-20 21:25:42,183][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.43 iterations per second over 30.00 seconds. +[2026-09-20 21:25:42,183][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003946 s, max step_time: 0.014737 s +[2026-09-20 21:25:44,452][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.42 Hz +[2026-09-20 21:25:45,095][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.41 iterations per second over 30.00 seconds. +[2026-09-20 21:25:45,095][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003900 s, max step_time: 0.015844 s +[2026-09-20 21:25:47,199][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.08 Hz +[2026-09-20 21:25:54,452][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.57 Hz +[2026-09-20 21:25:57,202][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.40 Hz +[2026-09-20 21:26:04,452][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.50 Hz +[2026-09-20 21:26:07,202][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.19 Hz +[2026-09-20 21:26:11,398][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.93 iterations per second over 26.30 seconds. +[2026-09-20 21:26:11,406][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.95 iterations per second over 29.22 seconds. +[2026-09-20 21:26:13,266][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:26:13,267][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:26:13,267][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:26:13,267][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:26:13,267][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:26:13,267][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:26:13,267][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:26:13,267][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:26:13,267][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 21:26:13,268][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:26:13,268][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:26:13,268][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:26:13,268][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:26:13,268][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:26:13,268][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:26:13,268][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 21:26:13,269][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:26:13,269][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:26:13,269][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:26:13,269][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:26:13,269][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:26:13,269][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:26:13,269][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:26:13,269][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:26:13,269][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:26:13,269][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:26:13,270][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:26:13,270][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:26:13,270][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:26:13,270][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:26:13,271][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:26:13,282][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:26:13,293][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:26:13,304][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:26:13,315][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:26:13,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:13,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:26:13,349][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:26:13,360][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:13,370][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:26:13,381][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:26:13,392][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:13,403][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:26:13,414][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:26:13,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:13,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:26:13,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:26:13,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:13,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:26:13,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:26:13,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:13,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:26:13,500][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 21:26:13,500][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:26:13,500][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:26:13,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:26:13,607][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:26:13,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:26:13,714][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:26:13,768][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:26:13,822][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:26:13,876][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:26:13,876][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:26:13,877][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:26:13,877][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:26:13,888][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:26:13,893][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:26:13,900][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:26:13,905][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:26:13,912][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:26:13,919][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:26:13,926][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:26:13,932][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:26:13,932][root][INFO] - current_pos: [-0.010872053101396162, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, 0.05321583886472858, -0.0013351644159609322] +[2026-09-20 21:26:13,932][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:26:13,932][root][INFO] - starting separate thread for control loop +[2026-09-20 21:26:14,032][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.03418803418803407, pos=-0.010490577553982305, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789910774.032865), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910774.032865), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1789910774.032865), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=40.0, timestamp=1789910774.032865), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789910774.032865), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.05321583886472858, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910774.032865), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910774.032865)] +[2026-09-20 21:26:14,033][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:26:14,033][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013 +[2026-09-20 21:26:14,033][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:26:14,660][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 21:26:14,961][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:26:15,592][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 21:26:15,892][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.007057297627218517) +[2026-09-20 21:26:15,892][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.0070573 ] +[2026-09-20 21:26:16,128][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:26:16,128][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:26:16,128][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:26:16,128][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:26:16,128][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:26:16,128][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:26:16,128][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:26:16,128][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:26:16,129][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:26:16,129][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:26:16,129][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:26:16,129][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:26:16,129][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 21:26:16,129][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:26:16,129][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:26:16,130][root][INFO] - initializing, .... +[2026-09-20 21:26:16,140][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:26:16,151][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:16,162][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:26:16,173][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:26:16,184][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:16,195][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:26:16,206][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:26:16,216][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:16,227][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:26:16,238][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:26:16,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:16,259][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:26:16,270][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:26:16,280][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:16,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:26:16,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:26:16,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:16,323][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:26:16,334][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:26:16,345][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:26:16,355][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:26:16,355][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 21:26:16,355][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:26:16,356][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:26:16,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:26:16,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:26:16,518][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:26:16,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:26:16,626][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:26:16,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:26:16,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:26:16,733][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:26:16,733][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:26:16,733][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:26:16,744][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:26:16,750][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:26:16,756][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:26:16,762][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:26:16,768][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:26:16,774][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:26:16,780][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:26:16,786][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:26:16,786][root][INFO] - current_pos: [-0.03185320820935367, 0.0005722133211261138, 0.000953688868543523, 0.000953688868543523, -0.022697795071335847, 0.023079270618753256, 0.5987258716716255] +[2026-09-20 21:26:16,786][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:26:16,786][root][INFO] - starting separate thread for control loop +[2026-09-20 21:26:16,887][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=-0.03185320820935367, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789910776.887147), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789910776.887147), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789910776.887147), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789910776.887147), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.022316319523914885, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789910776.887147), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.022697795071335847, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789910776.887147), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.5987258716716255, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910776.887147)] +[2026-09-20 21:26:16,887][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:26:16,887][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.5987 +[2026-09-20 21:26:16,887][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:26:17,561][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 21:26:17,861][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:26:18,489][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 21:26:18,790][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25501640344854, -0.011253528648813571) +[2026-09-20 21:26:18,790][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2550164 -0.01125353] +[2026-09-20 21:26:18,922][root][INFO] - initializing, .... +[2026-09-20 21:26:26,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.74 Hz +[2026-09-20 21:26:28,928][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.47 Hz +[2026-09-20 21:26:36,136][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.04 Hz +[2026-09-20 21:26:38,927][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.65 Hz +[2026-09-20 21:26:43,934][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.95 iterations per second over 30.00 seconds. +[2026-09-20 21:26:43,934][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003906 s, max step_time: 0.069845 s +[2026-09-20 21:26:46,137][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.06 Hz +[2026-09-20 21:26:46,787][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.59 iterations per second over 30.00 seconds. +[2026-09-20 21:26:46,787][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 40 times, mean step_time: 0.003927 s, max step_time: 0.064153 s +[2026-09-20 21:26:48,928][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.59 Hz +[2026-09-20 21:26:56,138][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 267.47 Hz +[2026-09-20 21:26:58,929][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.55 Hz +[2026-09-20 21:27:06,141][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.84 Hz +[2026-09-20 21:27:08,932][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.72 Hz +[2026-09-20 21:27:13,938][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 267.96 iterations per second over 30.00 seconds. +[2026-09-20 21:27:13,938][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003732 s, max step_time: 0.007067 s +[2026-09-20 21:27:16,141][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.07 Hz +[2026-09-20 21:27:16,788][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.02 iterations per second over 30.00 seconds. +[2026-09-20 21:27:18,935][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 272.61 Hz +[2026-09-20 21:27:26,144][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.11 Hz +[2026-09-20 21:27:28,936][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.98 Hz +[2026-09-20 21:27:36,146][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 272.86 Hz +[2026-09-20 21:27:38,936][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.58 Hz +[2026-09-20 21:27:43,939][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.13 iterations per second over 30.00 seconds. +[2026-09-20 21:27:46,149][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.42 Hz +[2026-09-20 21:27:46,790][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.52 iterations per second over 30.00 seconds. +[2026-09-20 21:27:48,937][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.76 Hz +[2026-09-20 21:27:56,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.03 Hz +[2026-09-20 21:27:58,940][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.93 Hz +[2026-09-20 21:28:06,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.90 Hz +[2026-09-20 21:28:06,320][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003717 s, max step_time: 0.007123 s +[2026-09-20 21:28:08,943][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.92 Hz +[2026-09-20 21:28:13,940][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.59 iterations per second over 30.00 seconds. +[2026-09-20 21:28:16,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.61 Hz +[2026-09-20 21:28:16,792][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.05 iterations per second over 30.00 seconds. +[2026-09-20 21:28:18,945][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.66 Hz +[2026-09-20 21:28:26,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.54 Hz +[2026-09-20 21:28:28,946][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.35 Hz +[2026-09-20 21:28:32,523][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003695 s, max step_time: 0.007446 s +[2026-09-20 21:28:35,179][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.27 iterations per second over 18.39 seconds. +[2026-09-20 21:28:35,188][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.82 iterations per second over 21.25 seconds. +[2026-09-20 21:28:37,422][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:28:37,423][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:28:37,423][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:28:37,423][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:28:37,423][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:28:37,423][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:28:37,423][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:28:37,423][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:28:37,424][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 21:28:37,424][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:28:37,424][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:28:37,424][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:28:37,424][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:28:37,424][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:28:37,424][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:28:37,424][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:28:37,425][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:28:37,425][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:28:37,425][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:28:37,425][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:28:37,427][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:28:37,438][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:28:37,449][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:28:37,460][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:28:37,471][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:28:37,482][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:37,493][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:28:37,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:28:37,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:37,527][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:28:37,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:28:37,549][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:37,560][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:28:37,571][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:28:37,582][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:37,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:28:37,604][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:28:37,614][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:37,625][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:28:37,636][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:28:37,647][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:37,658][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:28:37,658][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 21:28:37,659][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:28:37,659][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:28:37,714][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:28:37,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:28:37,826][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:28:37,882][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:28:37,937][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:28:37,992][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:28:38,047][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:28:38,047][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:28:38,048][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:28:38,048][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:28:38,059][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:28:38,064][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:28:38,072][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:28:38,078][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:28:38,084][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:28:38,089][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:28:38,096][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:28:38,104][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:28:38,104][root][INFO] - current_pos: [-0.010490577553978753, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, 0.04863813229571967, 0.022697795071335847] +[2026-09-20 21:28:38,104][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:28:38,104][root][INFO] - starting separate thread for control loop +[2026-09-20 21:28:38,205][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=-0.01087205310139261, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789910918.2049365), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910918.2049365), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1789910918.2049365), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=40.0, timestamp=1789910918.2049365), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789910918.2049365), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910918.2049365), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.022697795071335847, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910918.2049365)] +[2026-09-20 21:28:38,205][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:28:38,205][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-20 21:28:38,206][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:28:38,890][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 21:28:39,191][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:28:39,820][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 21:28:40,121][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.007438773174643032) +[2026-09-20 21:28:40,121][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.00743877] +[2026-09-20 21:28:40,366][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:28:40,366][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:28:40,366][root][INFO] - initializing, .... +[2026-09-20 21:28:40,366][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:28:40,367][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:28:40,367][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:28:40,367][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:28:40,367][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:28:40,367][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:28:40,367][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:28:40,367][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:28:40,367][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:28:40,367][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:28:40,367][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 21:28:40,367][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:28:40,367][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:28:40,378][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:28:40,389][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:40,400][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:28:40,411][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:28:40,422][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:40,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:28:40,445][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:28:40,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:40,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:28:40,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:28:40,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:40,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:28:40,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:28:40,522][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:40,533][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:28:40,543][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:28:40,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:40,565][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:28:40,576][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:28:40,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:28:40,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:28:40,599][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 21:28:40,600][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:28:40,600][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:28:40,656][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:28:40,712][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:28:40,768][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:28:40,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:28:40,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:28:40,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:28:40,990][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:28:40,990][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:28:40,991][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:28:40,991][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:28:41,003][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:28:41,009][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:28:41,014][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:28:41,022][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:28:41,027][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:28:41,035][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:28:41,041][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:28:41,048][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=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 21:28:41,048][root][INFO] - current_pos: [-0.112344548714427, 0.0013351644159609322, 0.000953688868543523, 0.0020981155107957505, -0.04520485236896299, 0.0791561760891124, 0.9386205844205389] +[2026-09-20 21:28:41,048][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:28:41,048][root][INFO] - starting separate thread for control loop +[2026-09-20 21:28:41,149][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.112344548714427, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789910921.1494095), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789910921.1494095), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789910921.1494095), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0020981155107957505, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1789910921.1494095), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.012210012210012167, pos=-0.04520485236896299, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789910921.1494095), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0791561760891124, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789910921.1494095), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.9382391088731215, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910921.1494095)] +[2026-09-20 21:28:41,149][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:28:41,150][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.9382 +[2026-09-20 21:28:41,150][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:28:41,780][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 21:28:42,080][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:28:42,700][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 21:28:43,000][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.309948882276647, -0.011253528648813571) +[2026-09-20 21:28:43,001][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.30994888 -0.01125353] +[2026-09-20 21:28:43,133][root][INFO] - initializing, .... +[2026-09-20 21:28:50,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.74 Hz +[2026-09-20 21:28:53,136][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.89 Hz +[2026-09-20 21:29:00,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.75 Hz +[2026-09-20 21:29:03,162][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.88 Hz +[2026-09-20 21:29:08,106][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.08 iterations per second over 30.00 seconds. +[2026-09-20 21:29:08,106][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.003935 s, max step_time: 0.063682 s +[2026-09-20 21:29:10,376][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.52 Hz +[2026-09-20 21:29:11,051][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.18 iterations per second over 30.00 seconds. +[2026-09-20 21:29:11,051][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.003965 s, max step_time: 0.070670 s +[2026-09-20 21:29:13,152][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.03 Hz +[2026-09-20 21:29:20,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.06 Hz +[2026-09-20 21:29:22,359][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.60 iterations per second over 11.31 seconds. +[2026-09-20 21:29:22,368][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.49 iterations per second over 14.26 seconds. +[2026-09-20 21:29:23,936][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:29:23,937][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:29:23,938][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:29:23,938][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:29:23,938][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:29:23,938][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:29:23,938][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:29:23,938][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:29:23,938][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 21:29:23,939][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:29:23,939][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:29:23,939][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:29:23,939][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:29:23,939][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:29:23,939][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:29:23,939][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:29:23,940][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:29:23,940][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:29:23,940][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:29:23,940][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:29:23,941][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:29:23,953][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:29:23,964][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:29:23,975][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:29:23,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:29:23,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:24,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:29:24,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:29:24,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:24,041][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:29:24,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:24,063][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:24,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:24,085][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:24,096][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:24,107][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:24,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:24,128][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:24,139][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:24,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:24,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:24,171][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:24,171][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 21:29:24,171][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:29:24,172][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:29:24,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:29:24,280][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:29:24,334][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:29:24,388][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:24,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:24,495][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:24,549][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:24,549][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:29:24,549][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:29:24,549][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:29:24,560][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:29:24,565][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:29:24,571][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:29:24,577][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:29:24,583][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:29:24,589][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:29:24,595][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:29:24,601][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:29:24,601][root][INFO] - current_pos: [-0.010490577553978753, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, 0.04863813229571967, 0.022316319523918438] +[2026-09-20 21:29:24,601][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:29:24,601][root][INFO] - starting separate thread for control loop +[2026-09-20 21:29:24,702][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.03174603174603163, eff=-0.02051282051282044, pos=-0.010490577553978753, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789910964.7023032), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910964.7023032), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1789910964.7023032), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=40.0, timestamp=1789910964.7023032), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789910964.7023032), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910964.7023032), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.022316319523918438, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910964.7023032)] +[2026-09-20 21:29:24,702][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:29:24,702][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-20 21:29:24,702][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:29:25,329][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 21:29:25,630][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:29:41,512][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:29:41,514][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:29:41,514][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:29:41,514][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:29:41,514][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:29:41,514][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:29:41,514][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:29:41,514][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:29:41,514][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 21:29:41,515][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:29:41,515][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:29:41,515][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:29:41,515][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:29:41,515][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:29:41,515][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:29:41,515][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:29:41,516][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:29:41,516][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:29:41,516][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:29:41,516][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:29:41,517][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:29:41,528][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:29:41,539][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:29:41,551][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:29:41,562][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:29:41,573][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:41,583][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:29:41,594][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:29:41,606][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:41,617][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:29:41,628][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:41,639][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:41,650][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:41,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:41,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:41,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:41,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:41,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:41,715][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:41,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:41,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:41,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:41,748][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 21:29:41,748][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:29:41,748][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:29:41,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:29:41,855][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:29:41,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:29:41,963][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:42,017][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:42,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:42,125][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:42,126][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:29:42,126][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:29:42,126][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:29:42,136][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:29:42,142][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:29:42,147][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:29:42,155][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:29:42,161][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:29:42,166][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:29:42,172][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:29:42,179][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 21:29:42,179][root][INFO] - current_pos: [-0.010490577553978753, -0.000953688868543523, 0.0024795910582131597, 0.0005722133211261138, 0.000953688868543523, 0.04863813229571967, -0.003242542153047978] +[2026-09-20 21:29:42,179][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:29:42,179][root][INFO] - starting separate thread for control loop +[2026-09-20 21:29:42,279][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.010490577553978753, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789910982.2796586), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910982.2796586), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789910982.2796586), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789910982.2796586), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789910982.2796586), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910982.2796586), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.003242542153047978, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910982.2796586)] +[2026-09-20 21:29:42,279][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:29:42,279][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0032 +[2026-09-20 21:29:42,279][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:29:42,910][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-20 21:29:43,210][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:29:43,841][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 21:29:44,142][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007438773174643032) +[2026-09-20 21:29:44,142][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.00743877] +[2026-09-20 21:29:44,377][root][INFO] - initializing, .... +[2026-09-20 21:29:44,378][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:29:44,379][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:29:44,379][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:29:44,379][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:29:44,379][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:29:44,379][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:29:44,379][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:29:44,379][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:29:44,379][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:29:44,379][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:29:44,379][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:29:44,379][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:29:44,379][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 21:29:44,379][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:29:44,379][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:29:44,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:29:44,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:44,412][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:29:44,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:29:44,434][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:44,445][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:29:44,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:29:44,468][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:44,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:29:44,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:44,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:44,513][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:44,524][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:44,535][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:44,546][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:44,557][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:44,568][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:44,579][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:44,590][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:29:44,601][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:29:44,612][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:29:44,612][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 21:29:44,612][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:29:44,612][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:29:44,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:29:44,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:29:44,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:29:44,827][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:44,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:44,934][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:44,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:29:44,988][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:29:44,988][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:29:44,988][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:29:44,999][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:29:45,004][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:29:45,010][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:29:45,016][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:29:45,022][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:29:45,028][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:29:45,034][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:29:45,039][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 21:29:45,040][root][INFO] - current_pos: [0.05245288776989376, -0.0001907377737087046, 0.000953688868543523, 0.0005722133211261138, -0.026894026092927348, 0.17643244068055175, 0.002861066605630569] +[2026-09-20 21:29:45,040][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:29:45,040][root][INFO] - starting separate thread for control loop +[2026-09-20 21:29:45,140][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.052071412222476354, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789910985.1404672), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789910985.1404672), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789910985.1404672), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789910985.1404672), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.026894026092927348, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789910985.1404672), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.17643244068055175, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789910985.1404672), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.002861066605630569, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789910985.1404672)] +[2026-09-20 21:29:45,140][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:29:45,140][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0029 +[2026-09-20 21:29:45,141][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:29:45,814][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 21:29:46,114][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:29:46,743][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 21:29:47,043][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.271801327534906, -0.011253528648813571) +[2026-09-20 21:29:47,043][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27180133 -0.01125353] +[2026-09-20 21:29:47,233][root][INFO] - initializing, .... +[2026-09-20 21:29:54,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.07 Hz +[2026-09-20 21:29:57,238][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.26 Hz +[2026-09-20 21:30:04,383][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.29 Hz +[2026-09-20 21:30:07,237][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.70 Hz +[2026-09-20 21:30:12,182][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.34 iterations per second over 30.00 seconds. +[2026-09-20 21:30:12,183][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 37 times, mean step_time: 0.003978 s, max step_time: 0.066710 s +[2026-09-20 21:30:14,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.39 Hz +[2026-09-20 21:30:15,041][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.52 iterations per second over 30.00 seconds. +[2026-09-20 21:30:15,042][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 37 times, mean step_time: 0.003991 s, max step_time: 0.068292 s +[2026-09-20 21:30:17,238][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.45 Hz +[2026-09-20 21:30:22,417][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 271.85 iterations per second over 7.38 seconds. +[2026-09-20 21:30:22,426][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.98 iterations per second over 10.24 seconds. diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/runtime/output.lock b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_apple/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0001/camera/metadata.json 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