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b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0011/manifests/event.json new file mode 100644 index 0000000000000000000000000000000000000000..c9b2128c98a171a038bc481e42e7cf5969880959 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0011/manifests/event.json @@ -0,0 +1,27 @@ +{ + "prometheus_event_recorder": { + "counts": { + "action.executed": 410, + "camera.base_0_rgb": 430, + "camera.left_wrist_0_rgb": 430, + "camera.right_wrist_0_rgb": 431, + "dropped": 0, + "event.workflow": 1, + "items": 3424, + "robot.robot_state": 1722 + }, + "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_bread/data/round_0011", + "event_samples": 1, + "failure": "", + "metadata": { + "round_number": 11, + "run_id": "20260917_234824_104808_round_0011", + "workflow": "openpi_rollout" + }, + "record_id": "prometheus_event_recorder", + "record_mode": "event", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789660216.7908468 + } +} diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0011/manifests/robot.json b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0011/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..86765a2f51fea766a6ac0c25b6857007fe2d6bfb --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0011/manifests/robot.json @@ -0,0 +1,36 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 410, + "camera.base_0_rgb": 430, + "camera.left_wrist_0_rgb": 430, + "camera.right_wrist_0_rgb": 431, + "dropped": 0, + "event.workflow": 1, + "items": 3424, + "robot.robot_state": 1722 + }, + "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/pick_and_place_bread/data/round_0011", + "failure": "", + "incomplete_robot_samples": { + "left": 1722, + "right": 1722 + }, + "metadata": { + "round_number": 11, + "run_id": "20260917_234824_104808_round_0011", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 1722, + "right": 1722 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789660216.7908468 + } +} diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0011/manifests/tactile.json b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0011/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/data/round_0011/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a470179b2113da0c9deb6abc79d6310990af948 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,239 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/seven_tasks_2500/pick_and_place_bread + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Pick up the slice of bread from the large pan and place it in the small + pan. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1fca281aa288026cc7e0ea43342862ba996d526a --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Pick up the slice of bread from the large pan and place it in + the small pan." + - run.output_dir=outputs/openpi_rollout/seven_tasks_2500/pick_and_place_bread + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Pick + up the slice of bread from the large pan and place it in the small pan.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/seven_tasks_2500/pick_and_place_bread,run.steps=40 + id: ??? + num: ??? + config_name: openpi_seven_tasks_2500 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/seven_tasks_2500/pick_and_place_bread/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..991ef269d1f515b9232eae4232476538927c220a --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Pick up the slice of bread from the large pan and place it in the + small pan." +- run.output_dir=outputs/openpi_rollout/seven_tasks_2500/pick_and_place_bread diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..ff869472fb94a667f467ac14a7facf64c9f29aa9 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/hydra/openpi_rollout.log @@ -0,0 +1,815 @@ +[2026-09-17 23:41:19,726][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 23:41:19,727][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 23:41:19,727][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 23:41:19,727][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 23:41:19,727][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 23:41:19,728][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 23:41:19,728][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 23:41:19,728][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 23:41:19,728][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 23:41:19,729][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 23:41:19,729][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 23:41:19,729][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 23:41:19,729][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 23:41:19,729][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 23:41:19,729][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 23:41:19,729][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:41:19,729][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:41:19,730][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:41:19,730][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 23:41:19,730][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:41:19,730][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:41:19,742][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:41:19,753][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 23:41:19,764][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:41:19,775][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:41:19,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:19,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:41:19,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:41:19,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:19,841][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:41:19,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:41:19,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:19,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:41:19,884][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:41:19,895][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:19,906][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:41:19,917][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:41:19,927][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:19,938][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:41:19,949][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:41:19,960][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:19,970][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:41:19,970][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-17 23:41:19,970][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:41:19,971][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:41:20,025][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:41:20,079][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:41:20,134][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:41:20,188][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:41:20,242][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:41:20,296][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:41:20,350][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:41:20,350][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 23:41:20,350][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:41:20,350][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:41:20,361][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:41:20,366][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:41:20,372][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:41:20,378][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:41:20,384][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:41:20,390][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:41:20,396][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:41:20,402][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=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 23:41:20,403][root][INFO] - current_pos: [-0.078774700541695, -0.000953688868543523, 0.0017166399633783413, 0.012397955291065799, -0.11882963302052296, 0.018120088502326936, 0.022316319523918438] +[2026-09-17 23:41:20,403][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:41:20,403][root][INFO] - starting separate thread for control loop +[2026-09-17 23:41:20,503][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=-0.07915617608911596, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789659680.5035477), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789659680.5035477), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789659680.5035477), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.012397955291065799, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789659680.5035477), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.11882963302052296, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789659680.5035477), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.018501564049744346, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659680.5035477), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789659680.5035477)] +[2026-09-17 23:41:20,503][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:41:20,503][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-17 23:41:20,503][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:41:21,133][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 23:41:21,434][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:41:22,062][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 +[2026-09-17 23:41:22,362][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2771419851987496, -0.00705729762722207) +[2026-09-17 23:41:22,363][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27714199 -0.0070573 ] +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:41:22,597][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:41:22,597][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:41:22,597][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 23:41:22,597][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:41:22,598][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:41:22,599][root][INFO] - initializing, .... +[2026-09-17 23:41:22,608][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:41:22,619][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:22,630][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:41:22,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:41:22,651][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:22,662][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:41:22,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:41:22,684][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:22,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:41:22,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:41:22,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:22,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:41:22,738][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:41:22,749][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:22,760][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:41:22,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:41:22,781][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:22,792][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:41:22,803][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:41:22,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:41:22,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:41:22,824][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 23:41:22,824][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:41:22,825][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:41:22,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:41:22,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:41:22,985][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:41:23,039][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:41:23,092][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:41:23,146][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:41:23,199][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:41:23,199][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 23:41:23,200][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:41:23,200][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:41:23,210][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:41:23,216][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:41:23,222][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:41:23,228][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:41:23,234][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:41:23,240][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:41:23,245][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:41:23,252][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=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 23:41:23,252][root][INFO] - current_pos: [-0.06275272755016381, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, 0.0020981155107957505, 0.02994583047226662, 0.7131685358968483] +[2026-09-17 23:41:23,252][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:41:23,252][root][INFO] - starting separate thread for control loop +[2026-09-17 23:41:23,353][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.02051282051282044, pos=-0.06275272755016381, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789659683.353239), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659683.353239), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789659683.353239), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789659683.353239), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789659683.353239), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.02994583047226662, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659683.353239), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.7131685358968483, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789659683.353239)] +[2026-09-17 23:41:23,353][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:41:23,353][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.7132 +[2026-09-17 23:41:23,353][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:41:23,978][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-17 23:41:24,278][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:41:24,892][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 23:41:25,192][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253109025711453, -0.01087205310139261) +[2026-09-17 23:41:25,192][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25310903 -0.01087205] +[2026-09-17 23:41:25,318][root][INFO] - initializing, .... +[2026-09-17 23:41:32,602][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.03 Hz +[2026-09-17 23:41:35,322][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.37 Hz +[2026-09-17 23:41:38,438][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:41:38,438][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:41:42,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.22 Hz +[2026-09-17 23:41:45,326][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.91 Hz +[2026-09-17 23:41:50,406][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.54 iterations per second over 30.00 seconds. +[2026-09-17 23:41:50,406][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003882 s, max step_time: 0.065159 s +[2026-09-17 23:41:52,608][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.32 Hz +[2026-09-17 23:41:53,254][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.55 iterations per second over 30.00 seconds. +[2026-09-17 23:41:53,254][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003928 s, max step_time: 0.065174 s +[2026-09-17 23:41:55,327][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.04 Hz +[2026-09-17 23:42:02,611][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.66 Hz +[2026-09-17 23:42:05,331][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.40 Hz +[2026-09-17 23:42:05,456][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:42:05,456][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:42:12,612][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.55 Hz +[2026-09-17 23:42:15,334][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.33 Hz +[2026-09-17 23:42:20,407][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.00 iterations per second over 30.00 seconds. +[2026-09-17 23:42:20,423][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003986 s, max step_time: 0.020304 s +[2026-09-17 23:42:22,615][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.50 Hz +[2026-09-17 23:42:23,256][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.45 iterations per second over 30.00 seconds. +[2026-09-17 23:42:23,256][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004009 s, max step_time: 0.020857 s +[2026-09-17 23:42:25,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.86 Hz +[2026-09-17 23:42:32,617][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.97 Hz +[2026-09-17 23:42:35,339][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.02 Hz +[2026-09-17 23:42:42,620][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.12 Hz +[2026-09-17 23:42:45,341][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.43 Hz +[2026-09-17 23:42:50,407][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 265.86 iterations per second over 30.00 seconds. +[2026-09-17 23:42:50,426][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003759 s, max step_time: 0.011598 s +[2026-09-17 23:42:52,610][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.96 iterations per second over 29.35 seconds. +[2026-09-17 23:42:52,615][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 275.32 iterations per second over 2.21 seconds. +[2026-09-17 23:42:54,819][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 23:42:54,820][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 23:42:54,820][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 23:42:54,821][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 23:42:54,821][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 23:42:54,821][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 23:42:54,821][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 23:42:54,821][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 23:42:54,821][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 23:42:54,822][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 23:42:54,822][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 23:42:54,822][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 23:42:54,822][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 23:42:54,822][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 23:42:54,822][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 23:42:54,822][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-17 23:42:54,822][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 23:42:54,823][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 23:42:54,823][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:42:54,823][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:42:54,823][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:42:54,823][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:42:54,823][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:42:54,823][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:42:54,823][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:42:54,823][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:42:54,823][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:42:54,823][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:42:54,823][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 23:42:54,823][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:42:54,824][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:42:54,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:42:54,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 23:42:54,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:42:54,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:42:54,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:54,890][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:42:54,901][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:42:54,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:54,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:42:54,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:42:54,946][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:54,957][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:42:54,968][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:42:54,980][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:54,991][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:42:55,002][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:42:55,013][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:55,025][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:42:55,036][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:42:55,047][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:55,058][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:42:55,058][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-17 23:42:55,058][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:42:55,059][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:42:55,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:42:55,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:42:55,227][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:42:55,282][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:42:55,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:42:55,393][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:42:55,449][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:42:55,449][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 23:42:55,449][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:42:55,449][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:42:55,460][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:42:55,466][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:42:55,472][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:42:55,478][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:42:55,484][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:42:55,490][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:42:55,496][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:42:55,502][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 23:42:55,502][root][INFO] - current_pos: [-0.06008239871824195, -0.000953688868543523, 0.0013351644159609322, 0.008583199816891707, -0.070382238498512, 0.014686808575570254, 0.022697795071335847] +[2026-09-17 23:42:55,502][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:42:55,502][root][INFO] - starting separate thread for control loop +[2026-09-17 23:42:55,603][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=-0.06008239871824195, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789659775.6033325), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789659775.6033325), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789659775.6033325), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.008964675364309116, voltage=-1, temp_mos=30.0, temp_rotor=32.0, timestamp=1789659775.6033325), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.070382238498512, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789659775.6033325), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.014686808575570254, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659775.6033325), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022697795071335847, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789659775.6033325)] +[2026-09-17 23:42:55,603][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:42:55,603][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-17 23:42:55,603][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:42:56,228][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 23:42:56,528][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:42:57,158][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 23:42:57,459][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2733272297245755, -0.00705729762722207) +[2026-09-17 23:42:57,459][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27332723 -0.0070573 ] +[2026-09-17 23:42:57,706][root][INFO] - initializing, .... +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:42:57,707][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:42:57,707][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:42:57,707][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 23:42:57,707][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:42:57,707][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:42:57,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:42:57,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:57,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:42:57,752][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:42:57,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:57,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:42:57,785][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:42:57,796][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:57,807][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:42:57,818][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:42:57,829][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:57,840][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:42:57,852][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:42:57,863][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:57,874][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:42:57,885][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:42:57,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:57,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:42:57,919][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:42:57,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:42:57,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:42:57,941][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 23:42:57,941][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:42:57,942][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:42:57,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:42:58,053][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:42:58,108][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:42:58,164][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:42:58,219][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:42:58,274][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:42:58,329][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:42:58,329][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 23:42:58,329][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:42:58,329][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:42:58,340][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:42:58,346][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:42:58,352][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:42:58,359][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:42:58,366][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:42:58,374][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:42:58,380][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:42:58,386][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0)] +[2026-09-17 23:42:58,386][root][INFO] - current_pos: [-0.032997634851605895, -0.0013351644159609322, 0.000953688868543523, 0.0017166399633783413, -0.04482337682154558, 0.06733043411917272, 0.014305333028152845] +[2026-09-17 23:42:58,386][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:42:58,386][root][INFO] - starting separate thread for control loop +[2026-09-17 23:42:58,487][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.032997634851605895, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789659778.4872243), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789659778.4872243), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789659778.4872243), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=33.0, timestamp=1789659778.4872243), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.04444190127412462, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789659778.4872243), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.06733043411917272, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659778.4872243), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.014305333028152845, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659778.4872243)] +[2026-09-17 23:42:58,487][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:42:58,487][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0143 +[2026-09-17 23:42:58,487][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:42:59,109][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-17 23:42:59,409][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:43:00,024][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 23:43:00,324][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255779354543375, -0.01087205310139261) +[2026-09-17 23:43:00,324][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25577935 -0.01087205] +[2026-09-17 23:43:00,456][root][INFO] - initializing, .... +[2026-09-17 23:43:07,711][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.99 Hz +[2026-09-17 23:43:10,461][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.86 Hz +[2026-09-17 23:43:17,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.26 Hz +[2026-09-17 23:43:20,465][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.91 Hz +[2026-09-17 23:43:25,506][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.84 iterations per second over 30.00 seconds. +[2026-09-17 23:43:25,506][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003986 s, max step_time: 0.069248 s +[2026-09-17 23:43:27,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.68 Hz +[2026-09-17 23:43:28,387][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.62 iterations per second over 30.00 seconds. +[2026-09-17 23:43:28,388][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 33 times, mean step_time: 0.004054 s, max step_time: 0.075099 s +[2026-09-17 23:43:30,465][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.78 Hz +[2026-09-17 23:43:37,717][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.46 Hz +[2026-09-17 23:43:40,469][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.50 Hz +[2026-09-17 23:43:47,719][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.06 Hz +[2026-09-17 23:43:50,472][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.94 Hz +[2026-09-17 23:43:55,507][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.55 iterations per second over 30.00 seconds. +[2026-09-17 23:43:55,507][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003960 s, max step_time: 0.042619 s +[2026-09-17 23:43:57,721][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.86 Hz +[2026-09-17 23:43:58,389][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.26 iterations per second over 30.00 seconds. +[2026-09-17 23:43:58,389][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003949 s, max step_time: 0.035141 s +[2026-09-17 23:44:00,475][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.81 Hz +[2026-09-17 23:44:07,723][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.43 Hz +[2026-09-17 23:44:10,476][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.99 Hz +[2026-09-17 23:44:17,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.76 Hz +[2026-09-17 23:44:20,478][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.84 Hz +[2026-09-17 23:44:25,510][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.27 iterations per second over 30.00 seconds. +[2026-09-17 23:44:27,731][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.75 Hz +[2026-09-17 23:44:28,392][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 263.20 iterations per second over 30.00 seconds. +[2026-09-17 23:44:30,482][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.11 Hz +[2026-09-17 23:44:32,082][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:44:32,082][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:44:37,735][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.73 Hz +[2026-09-17 23:44:38,514][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003806 s, max step_time: 0.007207 s +[2026-09-17 23:44:40,484][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.53 Hz +[2026-09-17 23:44:47,736][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.92 Hz +[2026-09-17 23:44:50,488][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.11 Hz +[2026-09-17 23:44:55,512][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.99 iterations per second over 30.00 seconds. +[2026-09-17 23:44:57,738][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.55 Hz +[2026-09-17 23:44:58,395][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.35 iterations per second over 30.00 seconds. +[2026-09-17 23:45:00,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.82 Hz +[2026-09-17 23:45:04,727][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003833 s, max step_time: 0.007824 s +[2026-09-17 23:45:07,741][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 +[2026-09-17 23:45:10,491][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.99 Hz +[2026-09-17 23:45:15,564][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003885 s, max step_time: 0.010206 s +[2026-09-17 23:45:17,744][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.44 Hz +[2026-09-17 23:45:20,494][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.93 Hz +[2026-09-17 23:45:25,515][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.38 iterations per second over 30.00 seconds. +[2026-09-17 23:45:27,745][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.16 Hz +[2026-09-17 23:45:28,397][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.31 iterations per second over 30.00 seconds. +[2026-09-17 23:45:30,496][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.34 Hz +[2026-09-17 23:45:34,730][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003832 s, max step_time: 0.010098 s +[2026-09-17 23:45:37,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.30 Hz +[2026-09-17 23:45:40,498][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.05 Hz +[2026-09-17 23:45:40,673][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 269.72 iterations per second over 12.28 seconds. +[2026-09-17 23:45:40,681][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 271.07 iterations per second over 15.17 seconds. +[2026-09-17 23:45:42,388][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 23:45:42,389][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 23:45:42,389][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 23:45:42,389][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 23:45:42,389][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 23:45:42,389][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 23:45:42,389][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 23:45:42,389][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 23:45:42,389][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 23:45:42,390][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 23:45:42,390][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 23:45:42,390][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 23:45:42,390][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 23:45:42,390][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 23:45:42,390][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 23:45:42,390][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:45:42,391][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:45:42,391][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:45:42,391][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 23:45:42,391][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:45:42,392][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:45:42,404][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:45:42,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 23:45:42,426][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:45:42,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:45:42,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:42,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:45:42,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:45:42,481][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:42,492][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:45:42,503][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:45:42,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:42,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:45:42,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:45:42,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:42,559][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:45:42,570][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:45:42,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:42,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:45:42,603][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:45:42,614][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:42,625][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:45:42,625][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 23:45:42,625][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:45:42,626][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:45:42,681][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:45:42,736][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:45:42,791][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:45:42,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:45:42,901][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:45:42,956][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:45:43,011][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:45:43,011][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 23:45:43,012][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:45:43,012][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:45:43,023][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:45:43,028][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:45:43,035][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:45:43,041][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:45:43,047][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:45:43,053][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:45:43,060][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:45:43,066][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 23:45:43,066][root][INFO] - current_pos: [-0.0623712520027464, -0.000953688868543523, 0.0017166399633783413, 0.004386968795300206, -0.028419928282596985, 0.003242542153047978, 0.01583123521782248] +[2026-09-17 23:45:43,066][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:45:43,066][root][INFO] - starting separate thread for control loop +[2026-09-17 23:45:43,167][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=-0.06198977645532544, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789659943.167142), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789659943.167142), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1789659943.167142), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.012210012210012167, pos=0.0040054932478827965, voltage=-1, temp_mos=31.0, temp_rotor=35.0, timestamp=1789659943.167142), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.028419928282596985, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789659943.167142), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.003242542153047978, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659943.167142), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.01583123521782248, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789659943.167142)] +[2026-09-17 23:45:43,167][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:45:43,167][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0158 +[2026-09-17 23:45:43,167][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:45:43,792][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 23:45:44,092][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:45:44,721][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 23:45:45,022][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-17 23:45:45,022][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:45:45,264][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:45:45,265][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:45:45,265][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 23:45:45,265][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:45:45,265][root][INFO] - initializing, .... +[2026-09-17 23:45:45,265][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:45:45,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:45:45,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:45,298][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:45:45,309][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:45:45,320][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:45,331][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:45:45,342][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:45:45,353][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:45,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:45:45,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:45:45,387][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:45,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:45:45,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:45:45,421][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:45,432][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:45:45,443][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:45:45,454][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:45,465][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:45:45,476][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:45:45,488][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:45:45,499][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:45:45,499][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 23:45:45,499][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:45:45,499][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:45:45,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:45:45,609][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:45:45,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:45:45,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:45:45,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:45:45,828][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:45:45,884][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:45:45,884][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 23:45:45,884][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:45:45,885][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:45:45,895][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:45:45,901][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:45:45,907][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:45:45,913][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:45:45,919][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:45:45,924][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:45:45,930][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:45:45,936][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0)] +[2026-09-17 23:45:45,936][root][INFO] - current_pos: [0.024986648355840302, -0.0013351644159609322, 0.000953688868543523, 0.0005722133211261138, -0.004386968795300206, 0.09784847791256546, 0.014305333028152845] +[2026-09-17 23:45:45,936][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:45:45,936][root][INFO] - starting separate thread for control loop +[2026-09-17 23:45:46,036][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.024986648355840302, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789659946.0369024), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789659946.0369024), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789659946.0369024), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=31.0, temp_rotor=35.0, timestamp=1789659946.0369024), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.004386968795300206, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789659946.0369024), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.09784847791256546, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659946.0369024), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=0.014305333028152845, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789659946.0369024)] +[2026-09-17 23:45:46,037][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:45:46,037][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0143 +[2026-09-17 23:45:46,037][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:45:46,697][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-17 23:45:46,997][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:45:47,607][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 23:45:47,907][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.275997558556497, -0.010872053101396162) +[2026-09-17 23:45:47,907][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27599756 -0.01087205] +[2026-09-17 23:45:48,035][root][INFO] - initializing, .... +[2026-09-17 23:45:55,269][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.73 Hz +[2026-09-17 23:45:58,039][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.92 Hz +[2026-09-17 23:46:05,274][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.09 Hz +[2026-09-17 23:46:08,043][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.31 Hz +[2026-09-17 23:46:13,067][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.03 iterations per second over 30.00 seconds. +[2026-09-17 23:46:13,067][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 37 times, mean step_time: 0.003999 s, max step_time: 0.064772 s +[2026-09-17 23:46:15,277][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.23 Hz +[2026-09-17 23:46:15,937][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.73 iterations per second over 30.00 seconds. +[2026-09-17 23:46:15,937][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004069 s, max step_time: 0.063738 s +[2026-09-17 23:46:18,044][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.18 Hz +[2026-09-17 23:46:25,281][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.11 Hz +[2026-09-17 23:46:28,046][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.57 Hz +[2026-09-17 23:46:35,280][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.69 Hz +[2026-09-17 23:46:38,046][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.76 Hz +[2026-09-17 23:46:43,070][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.51 iterations per second over 30.00 seconds. +[2026-09-17 23:46:43,071][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003960 s, max step_time: 0.027489 s +[2026-09-17 23:46:45,281][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.78 Hz +[2026-09-17 23:46:45,939][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.52 iterations per second over 30.00 seconds. +[2026-09-17 23:46:45,939][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003960 s, max step_time: 0.029968 s +[2026-09-17 23:46:48,051][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.80 Hz +[2026-09-17 23:46:55,283][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.73 Hz +[2026-09-17 23:46:58,051][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.26 Hz +[2026-09-17 23:47:05,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.27 Hz +[2026-09-17 23:47:08,055][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.01 Hz +[2026-09-17 23:47:13,071][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.80 iterations per second over 30.00 seconds. +[2026-09-17 23:47:13,416][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:47:13,416][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:47:15,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.50 Hz +[2026-09-17 23:47:15,943][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.76 iterations per second over 30.00 seconds. +[2026-09-17 23:47:18,059][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.11 Hz +[2026-09-17 23:47:25,286][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.88 Hz +[2026-09-17 23:47:28,062][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.69 Hz +[2026-09-17 23:47:28,414][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003842 s, max step_time: 0.010697 s +[2026-09-17 23:47:28,416][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003864 s, max step_time: 0.011239 s +[2026-09-17 23:47:35,285][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.10 Hz +[2026-09-17 23:47:38,064][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.87 Hz +[2026-09-17 23:47:43,074][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.51 iterations per second over 30.00 seconds. +[2026-09-17 23:47:45,287][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.58 Hz +[2026-09-17 23:47:45,944][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.42 iterations per second over 30.00 seconds. +[2026-09-17 23:47:48,068][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.50 Hz +[2026-09-17 23:47:55,290][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.10 Hz +[2026-09-17 23:47:58,068][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 270.99 Hz +[2026-09-17 23:47:58,416][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003825 s, max step_time: 0.012757 s +[2026-09-17 23:47:58,418][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003818 s, max step_time: 0.013965 s +[2026-09-17 23:48:05,290][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.39 Hz +[2026-09-17 23:48:08,069][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.59 Hz +[2026-09-17 23:48:13,075][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.12 iterations per second over 30.00 seconds. +[2026-09-17 23:48:15,292][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 275.37 Hz +[2026-09-17 23:48:15,946][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 270.75 iterations per second over 30.00 seconds. +[2026-09-17 23:48:18,069][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 276.57 Hz +[2026-09-17 23:48:22,287][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 279.47 iterations per second over 6.34 seconds. +[2026-09-17 23:48:22,293][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 281.64 iterations per second over 9.22 seconds. +[2026-09-17 23:48:24,430][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 23:48:24,431][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 23:48:24,431][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 23:48:24,431][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 23:48:24,431][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 23:48:24,431][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 23:48:24,431][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 23:48:24,431][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 23:48:24,432][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 23:48:24,432][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 23:48:24,432][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 23:48:24,432][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 23:48:24,432][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 23:48:24,432][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 23:48:24,433][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 23:48:24,433][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-17 23:48:24,433][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 23:48:24,433][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 23:48:24,433][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:48:24,433][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:48:24,433][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:48:24,433][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:48:24,433][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:48:24,433][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:48:24,433][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:48:24,433][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:48:24,434][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:48:24,434][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:48:24,434][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 23:48:24,434][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:48:24,435][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:48:24,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:48:24,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 23:48:24,468][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:48:24,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:48:24,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:24,501][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:48:24,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:48:24,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:24,535][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:48:24,546][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:48:24,557][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:24,568][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:48:24,579][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:48:24,590][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:24,602][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:48:24,613][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:48:24,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:24,634][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:48:24,645][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:48:24,656][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:24,667][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:48:24,667][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 23:48:24,667][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:48:24,668][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:48:24,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:48:24,776][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:48:24,830][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:48:24,884][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:48:24,938][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:48:24,991][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:48:25,045][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:48:25,045][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 23:48:25,045][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:48:25,045][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:48:25,056][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:48:25,062][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:48:25,068][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:48:25,074][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:48:25,080][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:48:25,086][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:48:25,092][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:48:25,098][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 23:48:25,098][root][INFO] - current_pos: [-0.06198977645532899, -0.000953688868543523, 0.0017166399633783413, 0.0013351644159609322, -0.009346150911726525, -0.0005722133211261138, 0.02040894178683139] +[2026-09-17 23:48:25,098][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:48:25,098][root][INFO] - starting separate thread for control loop +[2026-09-17 23:48:25,199][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=-0.062371252002749955, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789660105.1990795), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789660105.1990795), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1789660105.1990795), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=38.0, timestamp=1789660105.1990795), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.009346150911726525, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789660105.1990795), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789660105.1990795), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.020027466239413982, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789660105.1990795)] +[2026-09-17 23:48:25,199][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:48:25,199][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0200 +[2026-09-17 23:48:25,199][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:48:25,826][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 23:48:26,126][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:48:26,749][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 23:48:27,049][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-17 23:48:27,049][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:48:27,293][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:48:27,294][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:48:27,294][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 23:48:27,294][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:48:27,294][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:48:27,296][root][INFO] - initializing, .... +[2026-09-17 23:48:27,305][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:48:27,316][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:27,328][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:48:27,339][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:48:27,350][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:27,361][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:48:27,372][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:48:27,383][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:27,394][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:48:27,405][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:48:27,416][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:27,427][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:48:27,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:48:27,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:27,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:48:27,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:48:27,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:27,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:48:27,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:48:27,513][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:48:27,524][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:48:27,524][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 23:48:27,524][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:48:27,524][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:48:27,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:48:27,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:48:27,685][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:48:27,739][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:48:27,793][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:48:27,847][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:48:27,900][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:48:27,900][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 23:48:27,901][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:48:27,901][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:48:27,911][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:48:27,916][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:48:27,922][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:48:27,928][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:48:27,934][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:48:27,940][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:48:27,946][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:48:27,952][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 23:48:27,952][root][INFO] - current_pos: [-0.08220798046845168, -0.0013351644159609322, 0.000953688868543523, 0.0017166399633783413, -0.04482337682154558, 0.060463874265659356, 0.12989242389562783] +[2026-09-17 23:48:27,952][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:48:27,952][root][INFO] - starting separate thread for control loop +[2026-09-17 23:48:28,053][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=-0.08258945601586554, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789660108.0533903), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789660108.0533903), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789660108.0533903), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0017166399633783413, voltage=-1, temp_mos=32.0, temp_rotor=36.0, timestamp=1789660108.0533903), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.04482337682154558, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789660108.0533903), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.060463874265659356, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789660108.0533903), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.12989242389562783, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789660108.0533903)] +[2026-09-17 23:48:28,053][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:48:28,053][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.1299 +[2026-09-17 23:48:28,053][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:48:28,665][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-17 23:48:28,965][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:48:29,578][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-17 23:48:29,878][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253109025711453, -0.011253528648817124) +[2026-09-17 23:48:29,878][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25310903 -0.01125353] +[2026-09-17 23:48:30,003][root][INFO] - initializing, .... +[2026-09-17 23:48:37,298][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.42 Hz +[2026-09-17 23:48:40,007][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.89 Hz +[2026-09-17 23:48:42,237][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:48:42,238][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:48:47,300][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.86 Hz +[2026-09-17 23:48:50,009][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.03 Hz +[2026-09-17 23:48:55,099][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.53 iterations per second over 30.00 seconds. +[2026-09-17 23:48:55,099][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003913 s, max step_time: 0.063891 s +[2026-09-17 23:48:57,303][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.72 Hz +[2026-09-17 23:48:57,956][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.94 iterations per second over 30.00 seconds. +[2026-09-17 23:48:57,956][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003953 s, max step_time: 0.067466 s +[2026-09-17 23:49:00,010][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.96 Hz +[2026-09-17 23:49:07,307][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.82 Hz +[2026-09-17 23:49:10,012][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.26 Hz +[2026-09-17 23:49:17,307][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.39 Hz +[2026-09-17 23:49:20,012][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 +[2026-09-17 23:49:20,152][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:49:20,152][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:49:25,102][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.57 iterations per second over 30.00 seconds. +[2026-09-17 23:49:25,102][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003928 s, max step_time: 0.012118 s +[2026-09-17 23:49:27,312][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.58 Hz +[2026-09-17 23:49:27,959][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.88 iterations per second over 30.00 seconds. +[2026-09-17 23:49:27,959][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003923 s, max step_time: 0.013548 s +[2026-09-17 23:49:30,013][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.46 Hz +[2026-09-17 23:49:37,313][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.08 Hz +[2026-09-17 23:49:40,016][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.84 Hz +[2026-09-17 23:49:46,961][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:49:46,961][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:49:47,314][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.37 Hz +[2026-09-17 23:49:50,020][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.31 Hz +[2026-09-17 23:49:55,104][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.05 iterations per second over 30.00 seconds. +[2026-09-17 23:49:55,104][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003952 s, max step_time: 0.021143 s +[2026-09-17 23:49:57,316][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.72 Hz +[2026-09-17 23:49:57,962][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.91 iterations per second over 30.00 seconds. +[2026-09-17 23:49:57,962][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003954 s, max step_time: 0.019220 s +[2026-09-17 23:50:00,022][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.84 Hz +[2026-09-17 23:50:07,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.53 Hz +[2026-09-17 23:50:10,025][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.93 Hz +[2026-09-17 23:50:16,674][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:50:16,674][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:50:17,321][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.75 Hz +[2026-09-17 23:50:20,027][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.63 Hz +[2026-09-17 23:50:25,106][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.42 iterations per second over 30.00 seconds. +[2026-09-17 23:50:25,106][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003946 s, max step_time: 0.027020 s +[2026-09-17 23:50:27,325][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.23 Hz +[2026-09-17 23:50:27,964][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.78 iterations per second over 30.00 seconds. +[2026-09-17 23:50:27,964][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003972 s, max step_time: 0.021055 s +[2026-09-17 23:50:30,030][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.82 Hz +[2026-09-17 23:50:36,789][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:50:36,789][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:50:37,327][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.33 Hz +[2026-09-17 23:50:39,255][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.52 iterations per second over 11.29 seconds. +[2026-09-17 23:50:39,261][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.74 iterations per second over 14.16 seconds. diff --git a/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/runtime/output.lock b/eval/YAM/V2/pi0.5_2500/pick_and_place_bread/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391