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b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0010/manifests/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..c565b45c5e9fa091bfcee53ce5fde9415636921c --- /dev/null +++ b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0010/manifests/robot.json @@ -0,0 +1,36 @@ +{ + "prometheus_robot_recorder": { + "counts": { + "action.executed": 267, + "camera.base_0_rgb": 285, + "camera.left_wrist_0_rgb": 285, + "camera.right_wrist_0_rgb": 285, + "dropped": 0, + "event.workflow": 1, + "items": 2261, + "robot.robot_state": 1138 + }, + "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/data/round_0010", + "failure": "", + "incomplete_robot_samples": { + "left": 1138, + "right": 1138 + }, + "metadata": { + "round_number": 10, + "run_id": "20260920_214118_543949_round_0010", + "workflow": "openpi_rollout" + }, + "pending_robot_samples": 0, + "plot_outputs": [], + "record_id": "prometheus_robot_recorder", + "record_mode": "robot", + "robot_samples": { + "left": 1138, + "right": 1138 + }, + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789911784.2697015 + } +} diff --git a/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0010/manifests/tactile.json b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0010/manifests/tactile.json new file mode 100644 index 0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/data/round_0010/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/.hydra/config.yaml b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..35b7bcc33b564a59f2ac06cfe7e918a323454118 --- /dev/null +++ b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,238 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the brush to sweep the sponge into the dustpan. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${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/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7b72e759a33e52da6a8da9b327b1f1fc3f5e1aa --- /dev/null +++ b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,163 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Use the brush to sweep the sponge into the dustpan." + - run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use + the brush to sweep the sponge into the dustpan.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge,run.steps=40 + id: ??? + num: ??? + config_name: openpi_pi0_v2_v3_20eps_20000 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f039a32bc49ad58a5bf8137aa81ef85a8c8ad1ff --- /dev/null +++ b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,7 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Use the brush to sweep the sponge into the dustpan." +- run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/sweep_sponge diff --git a/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/openpi_rollout.log b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..078a4486d0871273981762e990221a9f3d4b65cb --- /dev/null +++ b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/hydra/openpi_rollout.log @@ -0,0 +1,823 @@ +[2026-09-20 19:12:59,838][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 19:12:59,840][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 19:12:59,840][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 19:12:59,840][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 19:12:59,840][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 19:12:59,840][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 19:12:59,840][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 19:12:59,840][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 19:12:59,840][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 19:12:59,841][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 19:12:59,841][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 19:12:59,841][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 19:12:59,841][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 19:12:59,841][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 19:12:59,841][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 19:12:59,841][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:12:59,842][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:12:59,842][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:12:59,842][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 19:12:59,842][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:12:59,843][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:12:59,855][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:12:59,866][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 19:12:59,877][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:12:59,888][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:12:59,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:12:59,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:12:59,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:12:59,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:12:59,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:12:59,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:12:59,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:12:59,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:12:59,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:12:59,998][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:13:00,009][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:13:00,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:13:00,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:13:00,042][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:13:00,053][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:13:00,064][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:13:00,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:13:00,074][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 19:13:00,074][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:13:00,075][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:13:00,129][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:13:00,183][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:13:00,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:13:00,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:13:00,344][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:13:00,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:13:00,453][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:13:00,453][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:13:00,453][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:13:00,453][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:13:00,465][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:13:00,471][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:13:00,476][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:13:00,484][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:13:00,490][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:13:00,496][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:13:00,504][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:13:00,509][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 19:13:00,510][root][INFO] - current_pos: [-0.03490501258869294, -0.000953688868543523, 0.0024795910582131597, 0.0001907377737087046, 0.000953688868543523, -0.13141832608529747, 0.020027466239413982] +[2026-09-20 19:13:00,510][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 19:13:00,510][root][INFO] - starting separate thread for control loop +[2026-09-20 19:13:00,610][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.03490501258869294, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789902780.6107202), 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=1789902780.6107202), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902780.6107202), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789902780.6107202), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902780.6107202), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.13141832608529747, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902780.6107202), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.020027466239413982, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789902780.6107202)] +[2026-09-20 19:13:00,610][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:13:00,610][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0200 +[2026-09-20 19:13:00,610][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:13:01,292][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-20 19:13:01,593][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:13:02,222][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 19:13:02,523][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.00705729762722207) +[2026-09-20 19:13:02,524][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.0070573] +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 19:13:02,764][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 19:13:02,764][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 19:13:02,764][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 19:13:02,764][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:13:02,764][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:13:02,765][root][INFO] - initializing, .... +[2026-09-20 19:13:02,775][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 19:13:02,787][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:13:02,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:13:02,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 19:13:02,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:13:02,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:13:02,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 19:13:02,853][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 19:13:02,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 19:13:02,876][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 19:13:02,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:13:02,898][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:13:02,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 19:13:02,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:13:02,931][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:13:02,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 19:13:02,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:13:02,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:13:02,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 19:13:02,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 19:13:02,998][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 19:13:02,999][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 19:13:02,999][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 19:13:02,999][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:13:03,055][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:13:03,111][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:13:03,166][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 19:13:03,220][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:13:03,273][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:13:03,327][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:13:03,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 19:13:03,380][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 19:13:03,380][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 19:13:03,380][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 19:13:03,392][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 19:13:03,397][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 19:13:03,403][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 19:13:03,409][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 19:13:03,415][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 19:13:03,421][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 19:13:03,428][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 19:13:03,433][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 19:13:03,433][root][INFO] - current_pos: [-0.015068284122987663, -0.0013351644159609322, 0.000953688868543523, 0.0017166399633783413, -0.023842221713588074, -0.010490577553978753, 4.70531013962005] +[2026-09-20 19:13:03,433][root][INFO] - motor 6 pos=4.705, offset +2Ï€ +[2026-09-20 19:13:03,433][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.283185307179586] +[2026-09-20 19:13:03,433][root][INFO] - starting separate thread for control loop +[2026-09-20 19:13:03,534][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=-0.015068284122987663, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789902783.534173), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.0009536888685399703, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902783.534173), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902783.534173), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789902783.534173), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.023842221713588074, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789902783.534173), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.010490577553978753, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902783.534173), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-1.5778751675595366, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789902783.534173)] +[2026-09-20 19:13:03,534][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 19:13:03,534][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -1.5779 +[2026-09-20 19:13:03,534][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 19:13:03,896][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-1.0324 +[2026-09-20 19:13:04,196][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 19:13:04,872][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-6.2944 +[2026-09-20 19:13:05,172][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (-1.032365134752638, -6.294438835828403) +[2026-09-20 19:13:05,172][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [-1.03236513 -6.29443884] +[2026-09-20 19:13:05,298][root][INFO] - initializing, .... +[2026-09-20 19:13:12,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.17 Hz +[2026-09-20 19:13:15,302][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.02 Hz +[2026-09-20 19:13:22,770][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.27 Hz +[2026-09-20 19:13:25,304][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.96 Hz +[2026-09-20 19:13:29,517][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:13:29,517][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:13:30,511][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.89 iterations per second over 30.00 seconds. +[2026-09-20 19:13:30,511][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.004001 s, max step_time: 0.062660 s +[2026-09-20 19:13:32,770][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.26 Hz +[2026-09-20 19:13:33,434][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.66 iterations per second over 30.00 seconds. +[2026-09-20 19:13:33,434][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.004037 s, max step_time: 0.064600 s +[2026-09-20 19:13:35,308][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.30 Hz +[2026-09-20 19:13:42,771][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.27 Hz +[2026-09-20 19:13:45,309][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.77 Hz +[2026-09-20 19:13:52,771][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.30 Hz +[2026-09-20 19:13:55,052][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:13:55,052][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:13:55,310][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.37 Hz +[2026-09-20 19:14:00,511][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.46 iterations per second over 30.00 seconds. +[2026-09-20 19:14:00,511][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003977 s, max step_time: 0.023347 s +[2026-09-20 19:14:02,776][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.42 Hz +[2026-09-20 19:14:03,437][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.18 iterations per second over 30.00 seconds. +[2026-09-20 19:14:03,437][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003997 s, max step_time: 0.021950 s +[2026-09-20 19:14:05,311][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.97 Hz +[2026-09-20 19:14:12,776][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.33 Hz +[2026-09-20 19:14:15,312][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.47 Hz +[2026-09-20 19:14:19,427][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:14:19,427][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:14:22,778][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.96 Hz +[2026-09-20 19:14:25,313][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.79 Hz +[2026-09-20 19:14:30,513][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.75 iterations per second over 30.00 seconds. +[2026-09-20 19:14:30,513][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003895 s, max step_time: 0.012690 s +[2026-09-20 19:14:32,781][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.52 Hz +[2026-09-20 19:14:33,441][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.83 iterations per second over 30.00 seconds. +[2026-09-20 19:14:33,441][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003878 s, max step_time: 0.012138 s +[2026-09-20 19:14:35,313][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.46 Hz +[2026-09-20 19:14:42,783][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.45 Hz +[2026-09-20 19:14:45,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.48 Hz +[2026-09-20 19:14:50,739][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:14:50,739][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 19:14:52,784][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.99 Hz +[2026-09-20 19:14:55,318][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.36 Hz +[2026-09-20 19:15:00,517][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.97 iterations per second over 30.00 seconds. +[2026-09-20 19:15:00,517][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003922 s, max step_time: 0.017631 s +[2026-09-20 19:15:02,785][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.67 Hz +[2026-09-20 19:15:03,443][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.01 iterations per second over 30.00 seconds. +[2026-09-20 19:15:03,443][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003921 s, max step_time: 0.013441 s +[2026-09-20 19:15:05,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.62 Hz +[2026-09-20 19:15:12,532][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.97 iterations per second over 9.09 seconds. +[2026-09-20 19:15:12,540][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.40 iterations per second over 12.02 seconds. +[2026-09-20 21:39:31,976][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:39:31,978][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:39:31,978][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:39:31,978][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:39:31,978][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:39:31,978][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:39:31,978][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:39:31,978][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:39:31,978][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 21:39:31,979][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:39:31,979][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:39:31,979][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:39:31,979][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:39:31,979][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:39:31,979][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:39:31,979][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:39:31,980][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:39:31,980][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:39:31,980][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:39:31,980][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:39:31,981][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:39:31,992][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:39:32,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:39:32,015][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:39:32,026][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:39:32,037][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:32,047][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:39:32,058][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:39:32,069][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:32,080][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:39:32,092][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:39:32,103][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:32,114][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:39:32,125][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:39:32,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:32,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:39:32,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:39:32,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:32,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:39:32,192][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:39:32,203][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:32,214][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:39:32,214][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 21:39:32,214][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:39:32,215][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:39:32,270][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:39:32,325][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:39:32,381][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:39:32,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:39:32,490][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:39:32,546][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:39:32,603][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:39:32,603][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:39:32,603][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:39:32,603][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:39:32,614][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:39:32,620][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:39:32,627][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:39:32,634][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:39:32,640][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:39:32,647][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:39:32,653][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:39:32,659][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:39:32,659][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.000953688868543523, 0.05321583886472858, -0.0020981155107957505] +[2026-09-20 21:39:32,659][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:39:32,659][root][INFO] - starting separate thread for control loop +[2026-09-20 21:39:32,760][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789911572.760396), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911572.760396), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789911572.760396), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789911572.760396), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789911572.760396), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.05321583886472858, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911572.760396), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911572.760396)] +[2026-09-20 21:39:32,760][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:39:32,760][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0021 +[2026-09-20 21:39:32,760][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:39:33,441][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2684 +[2026-09-20 21:39:33,741][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:39:34,367][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 21:39:34,668][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.268368047608149, -0.007438773174643032) +[2026-09-20 21:39:34,668][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26836805 -0.00743877] +[2026-09-20 21:39:34,911][root][INFO] - initializing, .... +[2026-09-20 21:39:34,912][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:39:34,912][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:39:34,912][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:39:34,912][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:39:34,912][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:39:34,913][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:39:34,913][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:39:34,913][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:39:34,913][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:39:34,913][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:39:34,913][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:39:34,913][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:39:34,913][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 21:39:34,913][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:39:34,913][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:39:34,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:39:34,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:34,946][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:39:34,957][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:39:34,968][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:34,978][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:39:34,989][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:39:35,000][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:35,011][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:39:35,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:39:35,032][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:35,043][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:39:35,054][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:39:35,065][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:35,076][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:39:35,087][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:39:35,098][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:35,109][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:39:35,120][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:39:35,130][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:39:35,142][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:39:35,142][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 21:39:35,142][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:39:35,142][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:39:35,196][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:39:35,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:39:35,303][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:39:35,357][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:39:35,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:39:35,465][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:39:35,519][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:39:35,519][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:39:35,519][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:39:35,519][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:39:35,530][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:39:35,535][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:39:35,541][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:39:35,547][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:39:35,553][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:39:35,559][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:39:35,565][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:39:35,571][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 21:39:35,571][root][INFO] - current_pos: [0.07000076295109459, -0.0020981155107957505, 0.09899290455481768, -0.26455329213397505, 0.029182879377431803, -0.06313420309758122, -0.0005722133211261138] +[2026-09-20 21:39:35,571][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:39:35,571][root][INFO] - starting separate thread for control loop +[2026-09-20 21:39:35,672][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=0.07000076295109459, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789911575.672193), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789911575.672193), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.006837606837606813, pos=0.09899290455481768, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1789911575.672193), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.26455329213397505, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1789911575.672193), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.029182879377431803, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789911575.672193), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06313420309758122, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789911575.672193), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789911575.672193)] +[2026-09-20 21:39:35,672][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:39:35,672][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0006 +[2026-09-20 21:39:35,672][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:39:36,352][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 21:39:36,653][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:39:37,318][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 21:39:37,618][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.011253528648817124) +[2026-09-20 21:39:37,618][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.01125353] +[2026-09-20 21:39:37,745][root][INFO] - initializing, .... +[2026-09-20 21:39:44,915][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.70 Hz +[2026-09-20 21:39:47,747][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.99 Hz +[2026-09-20 21:39:49,624][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:39:49,624][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:39:54,918][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.31 Hz +[2026-09-20 21:39:57,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.88 Hz +[2026-09-20 21:40:02,660][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.46 iterations per second over 30.00 seconds. +[2026-09-20 21:40:02,661][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003914 s, max step_time: 0.066040 s +[2026-09-20 21:40:04,921][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.86 Hz +[2026-09-20 21:40:05,574][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.48 iterations per second over 30.00 seconds. +[2026-09-20 21:40:05,574][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 35 times, mean step_time: 0.004008 s, max step_time: 0.075759 s +[2026-09-20 21:40:07,754][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.72 Hz +[2026-09-20 21:40:09,573][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:40:09,573][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:40:14,923][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.32 Hz +[2026-09-20 21:40:17,758][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.01 Hz +[2026-09-20 21:40:24,926][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.12 Hz +[2026-09-20 21:40:27,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.04 Hz +[2026-09-20 21:40:32,662][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.02 iterations per second over 30.00 seconds. +[2026-09-20 21:40:32,662][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003921 s, max step_time: 0.019749 s +[2026-09-20 21:40:34,930][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.00 Hz +[2026-09-20 21:40:35,576][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.55 iterations per second over 30.00 seconds. +[2026-09-20 21:40:35,629][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003905 s, max step_time: 0.055993 s +[2026-09-20 21:40:37,761][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.58 Hz +[2026-09-20 21:40:44,932][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.83 Hz +[2026-09-20 21:40:47,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.26 Hz +[2026-09-20 21:40:54,935][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.62 Hz +[2026-09-20 21:40:57,764][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 +[2026-09-20 21:41:02,662][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.67 iterations per second over 30.00 seconds. +[2026-09-20 21:41:02,662][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003851 s, max step_time: 0.007195 s +[2026-09-20 21:41:04,936][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.58 Hz +[2026-09-20 21:41:05,577][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.89 iterations per second over 30.00 seconds. +[2026-09-20 21:41:07,768][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.92 Hz +[2026-09-20 21:41:14,938][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.47 Hz +[2026-09-20 21:41:17,104][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.09 iterations per second over 11.53 seconds. +[2026-09-20 21:41:17,112][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.75 iterations per second over 14.45 seconds. +[2026-09-20 21:41:18,871][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:41:18,872][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:41:18,872][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:41:18,872][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:41:18,872][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:41:18,872][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:41:18,872][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:41:18,872][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:41:18,873][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 21:41:18,873][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:41:18,873][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:41:18,873][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:41:18,873][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:41:18,873][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:41:18,873][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:41:18,873][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:41:18,874][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:41:18,874][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:41:18,874][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:41:18,874][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:41:18,875][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:41:18,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:41:18,898][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:41:18,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:41:18,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:41:18,931][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:18,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:41:18,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:41:18,964][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:18,975][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:41:18,987][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:41:18,998][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:19,009][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:41:19,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:41:19,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:19,042][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:41:19,053][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:41:19,064][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:19,075][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:41:19,085][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:41:19,096][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:19,107][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:41:19,107][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 21:41:19,107][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:41:19,107][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:41:19,161][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:41:19,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:41:19,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:41:19,322][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:41:19,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:41:19,429][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:41:19,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:41:19,483][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:41:19,483][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:41:19,483][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:41:19,494][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:41:19,499][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:41:19,505][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:41:19,511][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:41:19,517][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:41:19,523][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:41:19,529][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:41:19,535][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:41:19,535][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.0013351644159609322, 0.04863813229571967, 0.02040894178683139] +[2026-09-20 21:41:19,535][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:41:19,535][root][INFO] - starting separate thread for control loop +[2026-09-20 21:41:19,636][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789911679.6364708), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911679.6364708), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789911679.6364708), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1789911679.6364708), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789911679.6364708), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911679.6364708), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.02040894178683139, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911679.6364708)] +[2026-09-20 21:41:19,636][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:41:19,636][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0204 +[2026-09-20 21:41:19,636][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:41:20,262][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 21:41:20,562][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:41:21,191][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 21:41:21,491][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.007438773174643032) +[2026-09-20 21:41:21,491][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.00743877] +[2026-09-20 21:41:21,728][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:41:21,728][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:41:21,728][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:41:21,728][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:41:21,729][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:41:21,729][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:41:21,729][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:41:21,729][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:41:21,729][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:41:21,729][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:41:21,729][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:41:21,729][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:41:21,729][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 21:41:21,729][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:41:21,729][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:41:21,730][root][INFO] - initializing, .... +[2026-09-20 21:41:21,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:41:21,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:21,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:41:21,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:41:21,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:21,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:41:21,804][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:41:21,815][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:21,826][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:41:21,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:41:21,847][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:21,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:41:21,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:41:21,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:21,891][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:41:21,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:41:21,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:21,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:41:21,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:41:21,945][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:41:21,956][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:41:21,956][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 21:41:21,956][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:41:21,957][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:41:22,010][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:41:22,064][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:41:22,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:41:22,171][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:41:22,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:41:22,279][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:41:22,333][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:41:22,333][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:41:22,333][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:41:22,333][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:41:22,344][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:41:22,349][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:41:22,356][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:41:22,361][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:41:22,367][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:41:22,373][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:41:22,379][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:41:22,386][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=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 21:41:22,386][root][INFO] - current_pos: [-0.02651255054550994, -0.0020981155107957505, 0.000953688868543523, 0.000953688868543523, -0.020027466239413982, -0.08907454032196505, 0.006294346532387252] +[2026-09-20 21:41:22,386][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:41:22,386][root][INFO] - starting separate thread for control loop +[2026-09-20 21:41:22,487][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=-0.02651255054550994, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789911682.4872723), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789911682.4872723), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789911682.4872723), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1789911682.4872723), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.020027466239413982, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789911682.4872723), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.08907454032196505, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789911682.4872723), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.006294346532387252, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911682.4872723)] +[2026-09-20 21:41:22,487][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:41:22,487][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063 +[2026-09-20 21:41:22,487][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:41:23,158][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 21:41:23,458][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:41:24,078][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 21:41:24,378][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.278286411841002, -0.011253528648813571) +[2026-09-20 21:41:24,378][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27828641 -0.01125353] +[2026-09-20 21:41:24,506][root][INFO] - initializing, .... +[2026-09-20 21:41:31,734][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 +[2026-09-20 21:41:34,511][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.41 Hz +[2026-09-20 21:41:38,322][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:41:38,322][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:41:41,735][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.53 Hz +[2026-09-20 21:41:44,514][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.52 Hz +[2026-09-20 21:41:49,540][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.93 iterations per second over 30.00 seconds. +[2026-09-20 21:41:49,595][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003914 s, max step_time: 0.069587 s +[2026-09-20 21:41:51,735][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.29 Hz +[2026-09-20 21:41:52,390][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.34 iterations per second over 30.00 seconds. +[2026-09-20 21:41:52,390][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003947 s, max step_time: 0.072139 s +[2026-09-20 21:41:54,517][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.95 Hz +[2026-09-20 21:42:01,736][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.28 Hz +[2026-09-20 21:42:04,520][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.51 Hz +[2026-09-20 21:42:05,479][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:42:05,479][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:42:11,738][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.85 Hz +[2026-09-20 21:42:14,521][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.05 Hz +[2026-09-20 21:42:19,540][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.60 iterations per second over 30.00 seconds. +[2026-09-20 21:42:19,597][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003968 s, max step_time: 0.014906 s +[2026-09-20 21:42:21,742][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.43 Hz +[2026-09-20 21:42:22,392][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.79 iterations per second over 30.00 seconds. +[2026-09-20 21:42:22,392][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003972 s, max step_time: 0.018559 s +[2026-09-20 21:42:24,525][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.45 Hz +[2026-09-20 21:42:31,744][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.43 Hz +[2026-09-20 21:42:34,528][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.69 Hz +[2026-09-20 21:42:38,175][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:42:38,175][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:42:41,745][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.46 Hz +[2026-09-20 21:42:44,529][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.17 Hz +[2026-09-20 21:42:49,543][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.87 iterations per second over 30.00 seconds. +[2026-09-20 21:42:49,598][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.004002 s, max step_time: 0.027204 s +[2026-09-20 21:42:51,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.82 Hz +[2026-09-20 21:42:52,394][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.18 iterations per second over 30.00 seconds. +[2026-09-20 21:42:52,394][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003997 s, max step_time: 0.029493 s +[2026-09-20 21:42:54,531][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.26 Hz +[2026-09-20 21:43:01,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.40 Hz +[2026-09-20 21:43:04,162][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:43:04,162][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:43:04,532][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.56 Hz +[2026-09-20 21:43:11,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.01 Hz +[2026-09-20 21:43:14,533][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.48 Hz +[2026-09-20 21:43:19,545][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.36 iterations per second over 30.00 seconds. +[2026-09-20 21:43:19,601][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003978 s, max step_time: 0.016719 s +[2026-09-20 21:43:21,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.70 Hz +[2026-09-20 21:43:22,396][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.15 iterations per second over 30.00 seconds. +[2026-09-20 21:43:22,397][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003998 s, max step_time: 0.011301 s +[2026-09-20 21:43:24,538][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.71 Hz +[2026-09-20 21:43:25,423][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:43:25,423][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:43:31,753][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.79 Hz +[2026-09-20 21:43:34,541][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.91 Hz +[2026-09-20 21:43:41,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.93 Hz +[2026-09-20 21:43:44,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.24 Hz +[2026-09-20 21:43:47,618][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:43:47,618][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:43:49,547][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.01 iterations per second over 30.00 seconds. +[2026-09-20 21:43:49,605][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003985 s, max step_time: 0.020024 s +[2026-09-20 21:43:51,757][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.66 Hz +[2026-09-20 21:43:52,397][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.99 iterations per second over 30.00 seconds. +[2026-09-20 21:43:52,397][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003968 s, max step_time: 0.016268 s +[2026-09-20 21:43:54,543][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.78 Hz +[2026-09-20 21:44:01,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.27 Hz +[2026-09-20 21:44:04,546][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.13 Hz +[2026-09-20 21:44:06,481][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:44:06,481][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:44:11,762][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.24 Hz +[2026-09-20 21:44:14,547][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.49 Hz +[2026-09-20 21:44:19,548][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.09 iterations per second over 30.00 seconds. +[2026-09-20 21:44:19,606][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003998 s, max step_time: 0.017373 s +[2026-09-20 21:44:21,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.44 Hz +[2026-09-20 21:44:22,397][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.97 iterations per second over 30.00 seconds. +[2026-09-20 21:44:22,402][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004017 s, max step_time: 0.017421 s +[2026-09-20 21:44:24,540][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:44:24,540][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:44:24,549][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.46 Hz +[2026-09-20 21:44:31,765][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.57 Hz +[2026-09-20 21:44:34,550][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.66 Hz +[2026-09-20 21:44:41,768][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.02 Hz +[2026-09-20 21:44:44,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.74 Hz +[2026-09-20 21:44:49,550][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.81 iterations per second over 30.00 seconds. +[2026-09-20 21:44:49,608][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003924 s, max step_time: 0.020169 s +[2026-09-20 21:44:51,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.48 Hz +[2026-09-20 21:44:52,400][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.01 iterations per second over 30.00 seconds. +[2026-09-20 21:44:52,403][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003921 s, max step_time: 0.018693 s +[2026-09-20 21:44:54,552][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.89 Hz +[2026-09-20 21:45:01,771][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.84 Hz +[2026-09-20 21:45:04,553][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.70 Hz +[2026-09-20 21:45:11,772][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.68 Hz +[2026-09-20 21:45:14,556][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.92 Hz +[2026-09-20 21:45:19,551][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.33 iterations per second over 30.00 seconds. +[2026-09-20 21:45:19,611][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003871 s, max step_time: 0.014112 s +[2026-09-20 21:45:21,773][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.98 Hz +[2026-09-20 21:45:22,401][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.99 iterations per second over 30.00 seconds. +[2026-09-20 21:45:22,405][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 57 times, mean step_time: 0.003876 s, max step_time: 0.011414 s +[2026-09-20 21:45:24,557][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.77 Hz +[2026-09-20 21:45:24,856][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.66 iterations per second over 2.45 seconds. +[2026-09-20 21:45:24,865][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.18 iterations per second over 5.31 seconds. +[2026-09-20 21:45:32,002][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:45:32,004][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:45:32,004][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:45:32,004][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:45:32,004][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:45:32,004][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:45:32,004][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:45:32,004][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:45:32,004][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-20 21:45:32,005][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:45:32,005][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:45:32,005][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:45:32,005][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:45:32,005][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:45:32,005][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:45:32,005][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:45:32,006][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:45:32,006][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:45:32,006][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:45:32,006][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:45:32,007][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:45:32,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:45:32,030][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:45:32,041][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:45:32,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:45:32,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:32,073][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:45:32,084][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:45:32,095][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:32,106][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:45:32,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:45:32,127][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:32,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:45:32,149][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:45:32,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:32,171][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:45:32,182][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:45:32,193][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:32,204][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:45:32,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:45:32,225][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:32,236][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:45:32,236][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 21:45:32,236][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:45:32,237][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:45:32,290][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:45:32,344][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:45:32,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:45:32,452][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:45:32,506][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:45:32,560][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:45:32,614][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:45:32,614][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:45:32,615][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:45:32,615][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:45:32,625][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:45:32,630][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:45:32,637][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:45:32,643][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:45:32,649][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:45:32,655][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:45:32,661][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:45:32,667][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)] +[2026-09-20 21:45:32,667][root][INFO] - current_pos: [-0.009727626459143934, -0.000953688868543523, 0.0020981155107957505, 0.004768444342717615, 0.0707637140459294, 0.04863813229571967, -0.003242542153047978] +[2026-09-20 21:45:32,667][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:45:32,667][root][INFO] - starting separate thread for control loop +[2026-09-20 21:45:32,768][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=-0.009727626459143934, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789911932.7683277), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911932.7683277), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789911932.7683277), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.004768444342717615, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789911932.7683277), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0707637140459294, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789911932.7683277), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04863813229571967, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911932.7683277), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.003242542153047978, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789911932.7683277)] +[2026-09-20 21:45:32,768][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:45:32,768][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0032 +[2026-09-20 21:45:32,768][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:45:33,393][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2691 +[2026-09-20 21:45:33,693][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:45:34,324][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 21:45:34,624][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269130998702984, -0.007438773174639479) +[2026-09-20 21:45:34,624][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.269131 -0.00743877] +[2026-09-20 21:45:34,864][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-20 21:45:34,864][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-20 21:45:34,865][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:45:34,865][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:45:34,865][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:45:34,865][root][INFO] - initializing, .... +[2026-09-20 21:45:34,865][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:45:34,865][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:45:34,865][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:45:34,865][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:45:34,865][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:45:34,865][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:45:34,865][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:45:34,865][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 21:45:34,865][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:45:34,866][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:45:34,877][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:45:34,888][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:34,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:45:34,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:45:34,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:34,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:45:34,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:45:34,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:34,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:45:34,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:45:34,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:34,999][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:45:35,009][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:45:35,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:35,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:45:35,042][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:45:35,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:35,063][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:45:35,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:45:35,085][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:45:35,096][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:45:35,096][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 21:45:35,096][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-20 21:45:35,096][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:45:35,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:45:35,204][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:45:35,258][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:45:35,311][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:45:35,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:45:35,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:45:35,473][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:45:35,473][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:45:35,473][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:45:35,473][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:45:35,484][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:45:35,490][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:45:35,496][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:45:35,502][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:45:35,507][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:45:35,514][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:45:35,520][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:45:35,526][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:45:35,526][root][INFO] - current_pos: [-0.03032730601968403, -0.0020981155107957505, 0.000953688868543523, 0.0020981155107957505, -0.0455863279163804, 0.01583123521782248, 1.053444724193179] +[2026-09-20 21:45:35,526][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:45:35,526][root][INFO] - starting separate thread for control loop +[2026-09-20 21:45:35,627][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.02051282051282044, pos=-0.03032730601968403, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789911935.6271336), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789911935.6271336), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789911935.6271336), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0020981155107957505, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789911935.6271336), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.0455863279163804, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789911935.6271336), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.01583123521782248, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789911935.6271336), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=1.0530632486457616, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789911935.6271336)] +[2026-09-20 21:45:35,627][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:45:35,627][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.0531 +[2026-09-20 21:45:35,627][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:45:36,235][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 21:45:36,535][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:45:37,164][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 21:45:37,464][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.28591592278935, -0.01201647974364839) +[2026-09-20 21:45:37,465][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28591592 -0.01201648] +[2026-09-20 21:45:37,593][root][INFO] - initializing, .... +[2026-09-20 21:45:44,869][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.03 Hz +[2026-09-20 21:45:47,598][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.97 Hz +[2026-09-20 21:45:48,157][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:45:48,157][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-20 21:45:54,873][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.32 Hz +[2026-09-20 21:45:57,602][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.41 Hz +[2026-09-20 21:46:02,669][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.49 iterations per second over 30.00 seconds. +[2026-09-20 21:46:02,669][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003883 s, max step_time: 0.066396 s +[2026-09-20 21:46:04,875][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.12 Hz +[2026-09-20 21:46:05,530][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.91 iterations per second over 30.00 seconds. +[2026-09-20 21:46:05,530][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003907 s, max step_time: 0.059934 s +[2026-09-20 21:46:07,601][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.39 Hz +[2026-09-20 21:46:10,768][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 272.78 iterations per second over 5.24 seconds. +[2026-09-20 21:46:10,778][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 273.15 iterations per second over 8.11 seconds. diff --git a/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/runtime/output.lock b/eval/YAM/V3/pi0_20eps_20000/sweep_sponge/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391