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0000000000000000000000000000000000000000..0967ef424bce6791893e9a57bb952f80fd536e93 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0015/manifests/tactile.json @@ -0,0 +1 @@ +{} diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0015/robot/robot_state_dict.pkl b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0015/robot/robot_state_dict.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c2f98fd60063dd844a3343cabd5d212db3b5deaf --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0015/robot/robot_state_dict.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3246afa7c60127b90ea1b3d70f7c572ce13e5c41515129349662fb4fb517dff2 +size 354947 diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0015/workflow_manifest.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/data/round_0015/workflow_manifest.json new file mode 100644 index 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441, in \n call_cancellable(lambda: execute_async_round(\n ^^^^^^^^^^^^^^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/async_action_execution.py\", line 190, in execute_async_round\n candidate = blend_overlap(plan, candidate, blend)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/home/romoya-1/openpi-workspace/PrometheusV2/prometheus/workflows/async_action_execution.py\", line 124, in blend_overlap\n raise RuntimeError('async overlap exhausted before the next prediction was ready')\nRuntimeError: async overlap exhausted before the next prediction was ready\n", + "hardware_at_failure": { + "details": { + "cleanup_errors": [], + "robot_client": { + "action_space": "abs_qpos", + "closed": false, + "command_source": "yam_workflow", + "control_topic": "/prometheus/robots/yam/control", + "request_id": "", + "result_topic": "/prometheus/robots/yam/control_result", + "ros_domain_id": 21, + "type": "RobotControlClient" + }, + "robot_driver": { + 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0.4542571985721588, + 0.3109293460845947, + 1.0653276860713958, + 0.45733958966098726, + 0.07211417473852634 + ], + "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 + ] +} diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..642041a1af2843701b260343456e0dd821ffef97 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,240 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the left arm to lift the lid of the pot, use the right arm to pick up + the bread and place it in the pot, then use the left arm to put the lid back on + the pot. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a6b3daa10c351f420893454d71edba57861b2685 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,166 @@ +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 left arm to lift the lid of the pot, use the right arm + to pick up the bread and place it in the pot, then use the left arm to put the + lid back on the pot." + - run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use + the left arm to lift the lid of the pot, use the right arm to pick up the bread + and place it in the pot, then use the left arm to put the lid back on the pot.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi,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/open_baozi/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b01c72b244f21e9eb5a2cd6c167b2a49646128a7 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,9 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Use the left arm to lift the lid of the pot, use the right arm to + pick up the bread and place it in the pot, then use the left arm to put the lid + back on the pot." +- run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..323739e26542f8c38394080e2784b2f15806cd36 --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/hydra/openpi_rollout.log @@ -0,0 +1,1069 @@ +[2026-09-20 20:52:17,090][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 20:52:17,091][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 20:52:17,092][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 20:52:17,092][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 20:52:17,092][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 20:52:17,092][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 20:52:17,092][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 20:52:17,092][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 20:52:17,092][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 20:52:17,093][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 20:52:17,093][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 20:52:17,093][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 20:52:17,093][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 20:52:17,093][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 20:52:17,093][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 20:52:17,093][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 20:52:17,094][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 20:52:17,094][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 20:52:17,094][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 20:52:17,094][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 20:52:17,094][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 20:52:17,094][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 20:52:17,094][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 20:52:17,094][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 20:52:17,094][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 20:52:17,094][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 20:52:17,094][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 20:52:17,094][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 20:52:17,094][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 20:52:17,094][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 20:52:17,095][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:52:17,106][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 20:52:17,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 20:52:17,128][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:52:17,139][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 20:52:17,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:17,161][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:52:17,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 20:52:17,184][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:17,195][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:52:17,206][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 20:52:17,217][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:17,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:52:17,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 20:52:17,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:17,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:52:17,273][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 20:52:17,284][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:17,295][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:52:17,306][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 20:52:17,317][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:17,328][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:52:17,328][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 20:52:17,328][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 20:52:17,328][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:52:17,383][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 20:52:17,439][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 20:52:17,495][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 20:52:17,551][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 20:52:17,606][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 20:52:17,662][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 20:52:17,718][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 20:52:17,718][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 20:52:17,718][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:52:17,718][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 20:52:17,730][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 20:52:17,736][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 20:52:17,741][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 20:52:17,749][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 20:52:17,754][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 20:52:17,762][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 20:52:17,768][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 20:52:17,774][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 20:52:17,774][root][INFO] - current_pos: [0.02193484397650103, -0.000953688868543523, 0.0024795910582131597, 0.000953688868543523, 0.018120088502326936, 0.09288929579613914, 0.022316319523918438] +[2026-09-20 20:52:17,774][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 20:52:17,774][root][INFO] - starting separate thread for control loop +[2026-09-20 20:52:17,874][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.02193484397650103, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789908737.8746626), 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=1789908737.8746626), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=33.0, timestamp=1789908737.8746626), 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=1789908737.8746626), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.018120088502326936, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789908737.8746626), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=0.09288929579613914, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789908737.8746626), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022316319523918438, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789908737.8746626)] +[2026-09-20 20:52:17,874][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 20:52:17,874][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-20 20:52:17,874][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 20:52:18,504][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2684 +[2026-09-20 20:52:18,804][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 20:52:19,430][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0074 +[2026-09-20 20:52:19,731][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.268368047608149, -0.007438773174643032) +[2026-09-20 20:52:19,731][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26836805 -0.00743877] +[2026-09-20 20:52:19,968][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 20:52:19,968][root][INFO] - initializing, .... +[2026-09-20 20:52:19,968][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 20:52:19,969][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 20:52:19,969][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 20:52:19,969][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 20:52:19,969][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 20:52:19,969][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 20:52:19,969][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 20:52:19,969][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 20:52:19,969][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 20:52:19,969][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 20:52:19,969][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 20:52:19,969][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 20:52:19,969][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 20:52:19,970][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:52:19,980][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 20:52:19,991][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:20,002][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:52:20,013][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 20:52:20,023][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:20,034][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:52:20,045][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 20:52:20,056][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:20,066][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:52:20,077][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 20:52:20,088][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:20,099][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:52:20,109][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 20:52:20,120][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:20,131][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:52:20,142][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 20:52:20,152][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:20,163][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:52:20,174][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 20:52:20,185][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:52:20,195][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:52:20,195][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 20:52:20,195][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 20:52:20,196][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:52:20,249][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 20:52:20,303][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 20:52:20,356][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 20:52:20,410][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 20:52:20,463][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 20:52:20,517][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 20:52:20,570][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 20:52:20,570][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.37 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 20:52:20,570][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:52:20,570][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 20:52:20,581][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 20:52:20,586][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 20:52:20,592][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 20:52:20,598][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 20:52:20,604][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 20:52:20,611][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 20:52:20,617][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 20:52:20,623][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, 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 20:52:20,624][root][INFO] - current_pos: [-0.02651255054550994, -0.0013351644159609322, 0.000953688868543523, 0.0001907377737087046, -0.012397955291065799, 0.01201647974364839, 0.7368200198367276] +[2026-09-20 20:52:20,624][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 20:52:20,624][root][INFO] - starting separate thread for control loop +[2026-09-20 20:52:20,724][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=28.0, temp_rotor=27.0, timestamp=1789908740.7247257), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789908740.7247257), 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=32.0, timestamp=1789908740.7247257), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789908740.7247257), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.012397955291065799, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789908740.7247257), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.01201647974364839, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789908740.7247257), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.7368200198367276, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789908740.7247257)] +[2026-09-20 20:52:20,724][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 20:52:20,724][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.7368 +[2026-09-20 20:52:20,724][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 20:52:21,390][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 20:52:21,691][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 20:52:22,309][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 20:52:22,609][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.255397878995957, -0.011253528648813571) +[2026-09-20 20:52:22,609][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25539788 -0.01125353] +[2026-09-20 20:52:22,737][root][INFO] - initializing, .... +[2026-09-20 20:52:29,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.72 Hz +[2026-09-20 20:52:32,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.52 Hz +[2026-09-20 20:52:39,974][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.98 Hz +[2026-09-20 20:52:42,744][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.45 Hz +[2026-09-20 20:52:47,774][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.96 iterations per second over 30.00 seconds. +[2026-09-20 20:52:47,775][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003984 s, max step_time: 0.069069 s +[2026-09-20 20:52:49,978][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.63 Hz +[2026-09-20 20:52:50,624][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.37 iterations per second over 30.00 seconds. +[2026-09-20 20:52:50,625][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.004059 s, max step_time: 0.062083 s +[2026-09-20 20:52:52,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.32 Hz +[2026-09-20 20:52:57,511][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 20:52:57,511][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 20:52:59,981][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.24 Hz +[2026-09-20 20:53:02,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.21 Hz +[2026-09-20 20:53:09,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.43 Hz +[2026-09-20 20:53:12,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.28 Hz +[2026-09-20 20:53:17,778][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.37 iterations per second over 30.00 seconds. +[2026-09-20 20:53:17,779][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003947 s, max step_time: 0.029452 s +[2026-09-20 20:53:19,984][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.57 Hz +[2026-09-20 20:53:20,627][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.07 iterations per second over 30.00 seconds. +[2026-09-20 20:53:20,627][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003967 s, max step_time: 0.047788 s +[2026-09-20 20:53:22,753][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.06 Hz +[2026-09-20 20:53:29,986][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.22 Hz +[2026-09-20 20:53:32,759][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.08 Hz +[2026-09-20 20:53:39,990][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.02 Hz +[2026-09-20 20:53:42,759][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.78 Hz +[2026-09-20 20:53:47,779][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.52 iterations per second over 30.00 seconds. +[2026-09-20 20:53:47,779][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003913 s, max step_time: 0.028517 s +[2026-09-20 20:53:49,991][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 271.96 Hz +[2026-09-20 20:53:50,629][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.49 iterations per second over 30.00 seconds. +[2026-09-20 20:53:50,629][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003899 s, max step_time: 0.016475 s +[2026-09-20 20:53:52,762][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.12 Hz +[2026-09-20 20:53:59,993][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.65 Hz +[2026-09-20 20:54:02,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 267.68 Hz +[2026-09-20 20:54:09,996][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 269.21 Hz +[2026-09-20 20:54:12,765][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.23 Hz +[2026-09-20 20:54:15,963][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.15 iterations per second over 25.33 seconds. +[2026-09-20 20:54:15,972][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 268.69 iterations per second over 28.19 seconds. +[2026-09-20 20:54:17,944][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 20:54:17,946][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 20:54:17,946][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 20:54:17,946][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 20:54:17,946][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 20:54:17,946][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 20:54:17,946][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 20:54:17,946][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 20:54:17,946][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 20:54:17,947][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 20:54:17,947][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 20:54:17,947][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 20:54:17,947][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 20:54:17,947][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 20:54:17,947][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 20:54:17,947][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 20:54:17,948][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 20:54:17,948][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 20:54:17,948][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 20:54:17,948][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 20:54:17,948][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 20:54:17,948][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 20:54:17,948][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 20:54:17,948][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 20:54:17,948][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 20:54:17,948][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 20:54:17,948][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 20:54:17,948][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 20:54:17,948][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 20:54:17,948][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 20:54:17,949][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:54:17,961][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 20:54:17,972][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 20:54:17,983][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:54:17,994][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 20:54:18,006][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:18,017][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:54:18,028][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 20:54:18,039][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:18,050][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:54:18,061][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 20:54:18,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:18,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:54:18,094][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 20:54:18,105][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:18,117][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:54:18,128][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 20:54:18,139][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:18,150][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:54:18,161][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 20:54:18,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:18,183][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:54:18,183][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-20 20:54:18,183][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 20:54:18,184][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:54:18,238][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 20:54:18,294][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 20:54:18,348][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 20:54:18,403][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 20:54:18,458][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 20:54:18,512][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 20:54:18,566][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 20:54:18,566][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 20:54:18,566][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:54:18,566][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 20:54:18,577][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 20:54:18,582][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 20:54:18,589][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 20:54:18,594][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 20:54:18,600][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 20:54:18,606][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 20:54:18,612][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 20:54:18,618][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 20:54:18,619][root][INFO] - current_pos: [0.0017166399633783413, -0.0001907377737087046, 0.0024795910582131597, 0.0013351644159609322, -0.003242542153047978, -0.09479667353322618, 0.9878309300373846] +[2026-09-20 20:54:18,619][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 20:54:18,619][root][INFO] - starting separate thread for control loop +[2026-09-20 20:54:18,719][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789908858.719506), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=33.0, timestamp=1789908858.719506), 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=36.0, timestamp=1789908858.719506), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789908858.719506), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.003242542153047978, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789908858.719506), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.09479667353322618, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789908858.719506), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.9878309300373846, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789908858.719506)] +[2026-09-20 20:54:18,719][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 20:54:18,719][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.9878 +[2026-09-20 20:54:18,719][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 20:54:19,348][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2684 +[2026-09-20 20:54:19,649][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 20:54:20,276][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 20:54:20,576][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.291256580453194, -0.007057297627218517) +[2026-09-20 20:54:20,576][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.29125658 -0.0070573 ] +[2026-09-20 20:54:20,813][root][INFO] - initializing, .... +[2026-09-20 20:54:20,827][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 20:54:20,827][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 20:54:20,827][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 20:54:20,827][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 20:54:20,827][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 20:54:20,827][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 20:54:20,827][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 20:54:20,827][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 20:54:20,827][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 20:54:20,827][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 20:54:20,827][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 20:54:20,827][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 20:54:20,827][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 20:54:20,827][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 20:54:20,828][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:54:20,839][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 20:54:20,850][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:20,860][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:54:20,871][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 20:54:20,882][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:20,893][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:54:20,903][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 20:54:20,914][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:20,925][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:54:20,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 20:54:20,946][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:20,957][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:54:20,968][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 20:54:20,978][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:20,989][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:54:21,000][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 20:54:21,010][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:21,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:54:21,032][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 20:54:21,043][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:54:21,054][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:54:21,054][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 20:54:21,054][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 20:54:21,054][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:54:21,108][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 20:54:21,161][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 20:54:21,216][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 20:54:21,269][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 20:54:21,323][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 20:54:21,376][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 20:54:21,430][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 20:54:21,430][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 20:54:21,430][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:54:21,431][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 20:54:21,441][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 20:54:21,446][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 20:54:21,452][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 20:54:21,459][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 20:54:21,465][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 20:54:21,471][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 20:54:21,476][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 20:54:21,482][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 20:54:21,483][root][INFO] - current_pos: [-0.11882963302052296, -0.0013351644159609322, 0.000953688868543523, 0.00705729762722207, -0.09403372243839137, 0.008201724269474298, 0.12760357061112337] +[2026-09-20 20:54:21,483][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 20:54:21,483][root][INFO] - starting separate thread for control loop +[2026-09-20 20:54:21,583][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.02051282051282044, pos=-0.11882963302052296, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789908861.583902), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789908861.583902), 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=1789908861.583902), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.00705729762722207, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789908861.583902), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.09403372243839137, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789908861.583902), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.008201724269474298, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789908861.583902), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.12760357061112337, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789908861.583902)] +[2026-09-20 20:54:21,626][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 20:54:21,626][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.1276 +[2026-09-20 20:54:21,626][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 20:54:22,296][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 20:54:22,596][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 20:54:23,263][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 20:54:23,563][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.277523460746167, -0.011253528648817124) +[2026-09-20 20:54:23,563][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27752346 -0.01125353] +[2026-09-20 20:54:23,689][root][INFO] - initializing, .... +[2026-09-20 20:54:30,817][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.39 Hz +[2026-09-20 20:54:33,692][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 238.96 Hz +[2026-09-20 20:54:40,817][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.88 Hz +[2026-09-20 20:54:43,696][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.21 Hz +[2026-09-20 20:54:48,623][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.33 iterations per second over 30.00 seconds. +[2026-09-20 20:54:48,624][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.004026 s, max step_time: 0.067773 s +[2026-09-20 20:54:50,367][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 20:54:50,367][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 20:54:50,819][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.07 Hz +[2026-09-20 20:54:51,484][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 244.03 iterations per second over 30.00 seconds. +[2026-09-20 20:54:51,484][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 36 times, mean step_time: 0.004097 s, max step_time: 0.066782 s +[2026-09-20 20:54:53,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.12 Hz +[2026-09-20 20:55:00,822][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 20:55:03,701][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.34 Hz +[2026-09-20 20:55:10,826][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.53 Hz +[2026-09-20 20:55:13,705][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.62 Hz +[2026-09-20 20:55:18,625][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.16 iterations per second over 30.00 seconds. +[2026-09-20 20:55:18,625][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003859 s, max step_time: 0.025788 s +[2026-09-20 20:55:20,826][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.68 Hz +[2026-09-20 20:55:21,487][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.18 iterations per second over 30.00 seconds. +[2026-09-20 20:55:21,742][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003861 s, max step_time: 0.007040 s +[2026-09-20 20:55:23,707][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.75 Hz +[2026-09-20 20:55:30,830][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.21 Hz +[2026-09-20 20:55:33,711][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.79 Hz +[2026-09-20 20:55:40,831][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.29 Hz +[2026-09-20 20:55:43,712][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.97 Hz +[2026-09-20 20:55:46,341][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 20:55:46,341][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 20:55:48,625][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.26 iterations per second over 30.00 seconds. +[2026-09-20 20:55:48,625][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004028 s, max step_time: 0.047024 s +[2026-09-20 20:55:50,833][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.44 Hz +[2026-09-20 20:55:51,489][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.81 iterations per second over 30.00 seconds. +[2026-09-20 20:55:51,745][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.004031 s, max step_time: 0.044451 s +[2026-09-20 20:55:53,713][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.08 Hz +[2026-09-20 20:56:00,833][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.29 Hz +[2026-09-20 20:56:03,716][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.54 Hz +[2026-09-20 20:56:10,833][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.89 Hz +[2026-09-20 20:56:13,631][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 20:56:13,631][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 20:56:13,715][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.58 Hz +[2026-09-20 20:56:18,628][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.58 iterations per second over 30.00 seconds. +[2026-09-20 20:56:18,628][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003944 s, max step_time: 0.015864 s +[2026-09-20 20:56:20,835][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.26 Hz +[2026-09-20 20:56:21,492][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.18 iterations per second over 30.00 seconds. +[2026-09-20 20:56:21,748][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003967 s, max step_time: 0.020012 s +[2026-09-20 20:56:23,719][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.31 Hz +[2026-09-20 20:56:30,836][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.47 Hz +[2026-09-20 20:56:33,721][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.89 Hz +[2026-09-20 20:56:40,838][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.16 Hz +[2026-09-20 20:56:43,723][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.91 Hz +[2026-09-20 20:56:48,628][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.76 iterations per second over 30.00 seconds. +[2026-09-20 20:56:48,628][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003850 s, max step_time: 0.007970 s +[2026-09-20 20:56:50,842][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.59 Hz +[2026-09-20 20:56:51,493][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.79 iterations per second over 30.00 seconds. +[2026-09-20 20:56:51,748][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003879 s, max step_time: 0.007092 s +[2026-09-20 20:56:53,726][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.51 Hz +[2026-09-20 20:57:00,846][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.32 Hz +[2026-09-20 20:57:03,728][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.85 Hz +[2026-09-20 20:57:10,848][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.01 Hz +[2026-09-20 20:57:13,730][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.67 Hz +[2026-09-20 20:57:18,630][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.85 iterations per second over 30.00 seconds. +[2026-09-20 20:57:18,630][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003863 s, max step_time: 0.007209 s +[2026-09-20 20:57:20,851][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.44 Hz +[2026-09-20 20:57:21,495][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.61 iterations per second over 30.00 seconds. +[2026-09-20 20:57:21,751][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003868 s, max step_time: 0.007124 s +[2026-09-20 20:57:23,733][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.81 Hz +[2026-09-20 20:57:30,852][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.08 Hz +[2026-09-20 20:57:33,737][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.12 Hz +[2026-09-20 20:57:38,941][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.05 iterations per second over 17.45 seconds. +[2026-09-20 20:57:38,947][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.31 iterations per second over 20.32 seconds. +[2026-09-20 20:57:56,487][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 20:57:56,488][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 20:57:56,488][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 20:57:56,488][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 20:57:56,488][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 20:57:56,488][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 20:57:56,488][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 20:57:56,488][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 20:57:56,488][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 20:57:56,489][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 20:57:56,489][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 20:57:56,489][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 20:57:56,489][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 20:57:56,489][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 20:57:56,489][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 20:57:56,489][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 20:57:56,490][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 20:57:56,490][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 20:57:56,490][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 20:57:56,490][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 20:57:56,490][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 20:57:56,490][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 20:57:56,490][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 20:57:56,490][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 20:57:56,490][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 20:57:56,490][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 20:57:56,490][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 20:57:56,490][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 20:57:56,490][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 20:57:56,490][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 20:57:56,491][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:57:56,503][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 20:57:56,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 20:57:56,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:57:56,536][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 20:57:56,547][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:56,558][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:57:56,569][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 20:57:56,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:56,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:57:56,603][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 20:57:56,614][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:56,625][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:57:56,637][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 20:57:56,648][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:56,659][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:57:56,670][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 20:57:56,680][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:56,691][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:57:56,702][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 20:57:56,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:56,724][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:57:56,724][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 20:57:56,724][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 20:57:56,724][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:57:56,778][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 20:57:56,833][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 20:57:56,887][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 20:57:56,941][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 20:57:56,995][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 20:57:57,049][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 20:57:57,102][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 20:57:57,103][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 20:57:57,103][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:57:57,103][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 20:57:57,113][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 20:57:57,119][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 20:57:57,125][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 20:57:57,131][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 20:57:57,137][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 20:57:57,143][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 20:57:57,149][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 20:57:57,154][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=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 20:57:57,155][root][INFO] - current_pos: [-0.017357137407492118, -0.000953688868543523, 0.0017166399633783413, 0.009346150911726525, -0.08487830930037354, 0.060463874265659356, 0.6288624399176008] +[2026-09-20 20:57:57,155][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 20:57:57,155][root][INFO] - starting separate thread for control loop +[2026-09-20 20:57:57,255][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=-0.017357137407492118, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789909077.255585), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789909077.255585), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789909077.255585), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.009346150911726525, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1789909077.255585), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.08487830930037354, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789909077.255585), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.060845349813076766, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789909077.255585), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.6288624399176008, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789909077.255585)] +[2026-09-20 20:57:57,255][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 20:57:57,255][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.6289 +[2026-09-20 20:57:57,255][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 20:57:57,879][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 20:57:58,179][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 20:57:58,802][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 20:57:59,103][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267986572060732, -0.00705729762722207) +[2026-09-20 20:57:59,103][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26798657 -0.0070573 ] +[2026-09-20 20:57:59,342][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 20:57:59,343][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 20:57:59,343][root][INFO] - initializing, .... +[2026-09-20 20:57:59,344][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 20:57:59,344][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 20:57:59,344][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 20:57:59,344][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 20:57:59,344][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 20:57:59,344][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 20:57:59,344][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 20:57:59,344][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 20:57:59,344][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 20:57:59,344][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 20:57:59,344][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 20:57:59,344][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 20:57:59,344][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:57:59,355][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 20:57:59,366][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:59,377][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:57:59,387][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 20:57:59,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:59,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:57:59,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 20:57:59,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:59,441][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 20:57:59,452][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 20:57:59,462][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:59,473][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:57:59,484][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 20:57:59,495][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:59,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:57:59,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 20:57:59,527][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:59,537][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:57:59,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 20:57:59,559][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 20:57:59,570][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 20:57:59,570][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 20:57:59,570][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 20:57:59,570][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:57:59,624][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 20:57:59,677][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 20:57:59,731][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 20:57:59,785][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 20:57:59,838][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 20:57:59,892][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 20:57:59,945][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 20:57:59,945][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 20:57:59,946][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 20:57:59,946][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 20:57:59,956][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 20:57:59,962][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 20:57:59,967][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 20:57:59,973][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 20:57:59,979][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 20:57:59,985][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 20:57:59,991][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 20:57:59,997][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 20:57:59,997][root][INFO] - current_pos: [0.08564126039520836, 0.0013351644159609322, 0.000953688868543523, 0.008583199816891707, 0.103952086671244, 0.04863813229571967, 0.032997634851605895] +[2026-09-20 20:57:59,997][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 20:57:59,997][root][INFO] - starting separate thread for control loop +[2026-09-20 20:58:00,098][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.08602273594262577, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789909080.09813), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789909080.09813), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789909080.09813), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.008583199816891707, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789909080.09813), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.103952086671244, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789909080.09813), 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=29.0, timestamp=1789909080.09813), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.032997634851605895, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789909080.09813)] +[2026-09-20 20:58:00,098][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 20:58:00,098][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0330 +[2026-09-20 20:58:00,098][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 20:58:00,719][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 20:58:01,020][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 20:58:01,685][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 20:58:01,985][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.264553292133975, -0.011253528648817124) +[2026-09-20 20:58:01,985][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26455329 -0.01125353] +[2026-09-20 20:58:02,111][root][INFO] - initializing, .... +[2026-09-20 20:58:09,346][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.35 Hz +[2026-09-20 20:58:12,116][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.61 Hz +[2026-09-20 20:58:19,349][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.43 Hz +[2026-09-20 20:58:22,118][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.08 Hz +[2026-09-20 20:58:27,156][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.33 iterations per second over 30.00 seconds. +[2026-09-20 20:58:27,156][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003978 s, max step_time: 0.069463 s +[2026-09-20 20:58:27,176][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 20:58:27,176][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 20:58:29,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.79 Hz +[2026-09-20 20:58:30,001][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.11 iterations per second over 30.00 seconds. +[2026-09-20 20:58:30,001][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.004030 s, max step_time: 0.064191 s +[2026-09-20 20:58:32,119][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.44 Hz +[2026-09-20 20:58:39,355][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.38 Hz +[2026-09-20 20:58:42,119][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.50 Hz +[2026-09-20 20:58:49,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.54 Hz +[2026-09-20 20:58:52,124][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.75 Hz +[2026-09-20 20:58:57,157][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.22 iterations per second over 30.00 seconds. +[2026-09-20 20:58:57,157][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003873 s, max step_time: 0.024965 s +[2026-09-20 20:58:59,358][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.55 Hz +[2026-09-20 20:59:00,002][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.09 iterations per second over 30.00 seconds. +[2026-09-20 20:59:00,058][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003897 s, max step_time: 0.059697 s +[2026-09-20 20:59:02,123][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.36 Hz +[2026-09-20 20:59:09,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.79 Hz +[2026-09-20 20:59:12,125][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.06 Hz +[2026-09-20 20:59:19,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.97 Hz +[2026-09-20 20:59:22,126][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.55 Hz +[2026-09-20 20:59:27,161][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.97 iterations per second over 30.00 seconds. +[2026-09-20 20:59:29,367][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.97 Hz +[2026-09-20 20:59:30,006][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.90 iterations per second over 30.00 seconds. +[2026-09-20 20:59:32,130][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.21 Hz +[2026-09-20 20:59:33,286][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003864 s, max step_time: 0.007111 s +[2026-09-20 20:59:39,367][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.44 Hz +[2026-09-20 20:59:42,133][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.23 Hz +[2026-09-20 20:59:49,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.62 Hz +[2026-09-20 20:59:52,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.67 Hz +[2026-09-20 20:59:57,164][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.30 iterations per second over 30.00 seconds. +[2026-09-20 20:59:59,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.46 Hz +[2026-09-20 21:00:00,006][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.16 iterations per second over 30.00 seconds. +[2026-09-20 21:00:02,136][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.94 Hz +[2026-09-20 21:00:02,517][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003881 s, max step_time: 0.007580 s +[2026-09-20 21:00:03,287][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003864 s, max step_time: 0.007585 s +[2026-09-20 21:00:09,374][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.98 Hz +[2026-09-20 21:00:12,140][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.42 Hz +[2026-09-20 21:00:19,376][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.78 Hz +[2026-09-20 21:00:22,140][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.77 Hz +[2026-09-20 21:00:24,762][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 21:00:24,762][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 21:00:27,164][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.80 iterations per second over 30.00 seconds. +[2026-09-20 21:00:29,375][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.98 Hz +[2026-09-20 21:00:30,009][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 245.81 iterations per second over 30.00 seconds. +[2026-09-20 21:00:32,143][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.52 Hz +[2026-09-20 21:00:32,517][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.004067 s, max step_time: 0.026991 s +[2026-09-20 21:00:33,292][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 31 times, mean step_time: 0.004049 s, max step_time: 0.029555 s +[2026-09-20 21:00:39,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.33 Hz +[2026-09-20 21:00:42,148][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.71 Hz +[2026-09-20 21:00:49,379][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.86 Hz +[2026-09-20 21:00:52,149][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.79 Hz +[2026-09-20 21:00:57,165][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.36 iterations per second over 30.00 seconds. +[2026-09-20 21:00:59,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.75 Hz +[2026-09-20 21:01:00,013][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.47 iterations per second over 30.00 seconds. +[2026-09-20 21:01:02,150][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.26 Hz +[2026-09-20 21:01:03,292][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003849 s, max step_time: 0.008300 s +[2026-09-20 21:01:09,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.98 Hz +[2026-09-20 21:01:12,152][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.61 Hz +[2026-09-20 21:01:19,384][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.91 Hz +[2026-09-20 21:01:22,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.52 Hz +[2026-09-20 21:01:24,869][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003859 s, max step_time: 0.007162 s +[2026-09-20 21:01:27,167][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.99 iterations per second over 30.00 seconds. +[2026-09-20 21:01:29,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.64 Hz +[2026-09-20 21:01:30,015][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.65 iterations per second over 30.00 seconds. +[2026-09-20 21:01:32,158][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.71 Hz +[2026-09-20 21:01:33,294][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003819 s, max step_time: 0.010498 s +[2026-09-20 21:01:39,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.08 Hz +[2026-09-20 21:01:42,161][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.66 Hz +[2026-09-20 21:01:49,390][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.25 Hz +[2026-09-20 21:01:52,163][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.35 Hz +[2026-09-20 21:01:54,871][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 57 times, mean step_time: 0.003893 s, max step_time: 0.010980 s +[2026-09-20 21:01:57,167][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.33 iterations per second over 30.00 seconds. +[2026-09-20 21:01:59,393][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.73 Hz +[2026-09-20 21:02:00,017][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.88 iterations per second over 30.00 seconds. +[2026-09-20 21:02:02,164][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 21:02:03,295][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 73 times, mean step_time: 0.003887 s, max step_time: 0.013163 s +[2026-09-20 21:02:09,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.62 Hz +[2026-09-20 21:02:12,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.87 Hz +[2026-09-20 21:02:14,361][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.45 iterations per second over 14.34 seconds. +[2026-09-20 21:02:14,368][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.28 iterations per second over 17.20 seconds. +[2026-09-20 21:02:16,966][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:02:16,967][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:02:16,967][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:02:16,967][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:02:16,967][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:02:16,967][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:02:16,968][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:02:16,968][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:02:16,968][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 21:02:16,969][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:02:16,969][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:02:16,969][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:02:16,969][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:02:16,969][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:02:16,969][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:02:16,969][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 21:02:16,969][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 21:02:16,969][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 21:02:16,969][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:02:16,969][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:02:16,969][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:02:16,969][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:02:16,969][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:02:16,969][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:02:16,969][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:02:16,969][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:02:16,969][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:02:16,969][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:02:16,970][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:02:16,970][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 21:02:16,970][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:02:16,982][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:02:16,993][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:02:17,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:02:17,016][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:02:17,027][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:17,038][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:02:17,049][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:02:17,060][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:17,071][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:02:17,082][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:02:17,094][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:17,104][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:02:17,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:02:17,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:17,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:02:17,149][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:02:17,160][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:17,171][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:02:17,183][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:02:17,194][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:17,205][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:02:17,205][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-20 21:02:17,205][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 21:02:17,205][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:02:17,259][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 21:02:17,313][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 21:02:17,366][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 21:02:17,420][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 21:02:17,474][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 21:02:17,528][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 21:02:17,582][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 21:02:17,582][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 21:02:17,582][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:02:17,582][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:02:17,593][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:02:17,599][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:02:17,605][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:02:17,612][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:02:17,617][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:02:17,625][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:02:17,631][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:02:17,637][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:02:17,637][root][INFO] - current_pos: [0.02117189288166621, -0.0001907377737087046, 0.0024795910582131597, 0.0013351644159609322, 0.032616159304188486, 0.08258945601586909, -0.0001907377737087046] +[2026-09-20 21:02:17,637][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:02:17,637][root][INFO] - starting separate thread for control loop +[2026-09-20 21:02:17,737][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.02117189288166621, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789909337.7376869), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=-0.0001907377737087046, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789909337.7376869), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789909337.7376869), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789909337.7376869), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=0.032616159304188486, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789909337.7376869), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.08258945601586909, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789909337.7376869), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789909337.7376869)] +[2026-09-20 21:02:17,737][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:02:17,737][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0002 +[2026-09-20 21:02:17,737][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:02:18,368][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2687 +[2026-09-20 21:02:18,668][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:02:19,294][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 21:02:19,594][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2687495231555665, -0.007057297627218517) +[2026-09-20 21:02:19,594][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26874952 -0.0070573 ] +[2026-09-20 21:02:19,833][root][INFO] - initializing, .... +[2026-09-20 21:02:19,834][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 21:02:19,834][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 21:02:19,834][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:02:19,834][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:02:19,834][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:02:19,834][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:02:19,834][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:02:19,834][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:02:19,834][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:02:19,834][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:02:19,834][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:02:19,834][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:02:19,834][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 21:02:19,834][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 21:02:19,835][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:02:19,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:02:19,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:19,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:02:19,878][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:02:19,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:19,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:02:19,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:02:19,934][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:19,945][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:02:19,956][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:02:19,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:19,978][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:02:19,988][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:02:19,999][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:20,010][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:02:20,020][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:02:20,031][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:20,042][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:02:20,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:02:20,063][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:02:20,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:02:20,074][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.24 s (7 motor(s)) +[2026-09-20 21:02:20,074][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 21:02:20,074][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:02:20,128][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 21:02:20,181][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 21:02:20,235][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 21:02:20,289][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 21:02:20,343][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 21:02:20,396][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 21:02:20,449][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 21:02:20,450][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 21:02:20,450][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:02:20,450][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:02:20,460][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:02:20,466][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:02:20,472][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:02:20,478][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:02:20,483][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:02:20,489][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:02:20,495][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:02:20,501][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 21:02:20,501][root][INFO] - current_pos: [-0.0207904173342488, 0.0005722133211261138, 0.000953688868543523, 0.008201724269474298, -0.11654077973601851, -0.078774700541695, 0.006294346532387252] +[2026-09-20 21:02:20,501][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:02:20,501][root][INFO] - starting separate thread for control loop +[2026-09-20 21:02:20,602][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=-0.0207904173342488, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789909340.6024134), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789909340.6024134), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789909340.6024134), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.008201724269474298, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789909340.6024134), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.11654077973601851, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789909340.6024134), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.078774700541695, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789909340.6024134), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.006294346532387252, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789909340.6024134)] +[2026-09-20 21:02:20,602][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:02:20,602][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063 +[2026-09-20 21:02:20,602][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:02:21,214][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 21:02:21,515][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:02:22,125][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 21:02:22,425][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.264171816586558, -0.011253528648817124) +[2026-09-20 21:02:22,425][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26417182 -0.01125353] +[2026-09-20 21:02:22,553][root][INFO] - initializing, .... +[2026-09-20 21:02:29,839][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.60 Hz +[2026-09-20 21:02:32,555][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.57 Hz +[2026-09-20 21:02:39,842][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.32 Hz +[2026-09-20 21:02:42,561][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.31 Hz +[2026-09-20 21:02:45,197][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 21:02:45,197][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 21:02:47,638][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.16 iterations per second over 30.00 seconds. +[2026-09-20 21:02:47,639][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003997 s, max step_time: 0.074003 s +[2026-09-20 21:02:49,844][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.37 Hz +[2026-09-20 21:02:50,504][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.18 iterations per second over 30.00 seconds. +[2026-09-20 21:02:50,505][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004062 s, max step_time: 0.076368 s +[2026-09-20 21:02:52,563][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.93 Hz +[2026-09-20 21:02:59,846][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.76 Hz +[2026-09-20 21:03:02,568][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.48 Hz +[2026-09-20 21:03:09,847][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.37 Hz +[2026-09-20 21:03:12,570][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.44 Hz +[2026-09-20 21:03:17,640][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.12 iterations per second over 30.00 seconds. +[2026-09-20 21:03:17,640][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.004014 s, max step_time: 0.008692 s +[2026-09-20 21:03:17,997][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 21:03:17,997][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 21:03:19,848][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.07 Hz +[2026-09-20 21:03:20,506][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.72 iterations per second over 30.00 seconds. +[2026-09-20 21:03:20,506][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004037 s, max step_time: 0.026092 s +[2026-09-20 21:03:22,574][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.10 Hz +[2026-09-20 21:03:29,850][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.44 Hz +[2026-09-20 21:03:32,575][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.46 Hz +[2026-09-20 21:03:39,851][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.09 Hz +[2026-09-20 21:03:42,578][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.14 Hz +[2026-09-20 21:03:47,641][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.62 iterations per second over 30.00 seconds. +[2026-09-20 21:03:47,641][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003822 s, max step_time: 0.020340 s +[2026-09-20 21:03:49,851][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.49 Hz +[2026-09-20 21:03:50,509][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.31 iterations per second over 30.00 seconds. +[2026-09-20 21:03:50,510][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003842 s, max step_time: 0.008279 s +[2026-09-20 21:03:52,578][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.69 Hz +[2026-09-20 21:03:59,855][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.21 Hz +[2026-09-20 21:04:02,580][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 21:04:07,832][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 21:04:07,832][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 21:04:09,855][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.50 Hz +[2026-09-20 21:04:12,583][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.22 Hz +[2026-09-20 21:04:17,643][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.82 iterations per second over 30.00 seconds. +[2026-09-20 21:04:17,644][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004003 s, max step_time: 0.020702 s +[2026-09-20 21:04:19,855][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.89 Hz +[2026-09-20 21:04:20,511][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.39 iterations per second over 30.00 seconds. +[2026-09-20 21:04:20,511][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003994 s, max step_time: 0.036571 s +[2026-09-20 21:04:22,583][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.99 Hz +[2026-09-20 21:04:29,858][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.81 Hz +[2026-09-20 21:04:32,585][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.05 Hz +[2026-09-20 21:04:39,860][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.35 Hz +[2026-09-20 21:04:42,586][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 21:04:47,647][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.04 iterations per second over 30.00 seconds. +[2026-09-20 21:04:47,647][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003999 s, max step_time: 0.009684 s +[2026-09-20 21:04:47,881][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 21:04:47,881][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 21:04:49,862][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.97 Hz +[2026-09-20 21:04:50,514][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.97 iterations per second over 30.00 seconds. +[2026-09-20 21:04:50,514][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004033 s, max step_time: 0.038929 s +[2026-09-20 21:04:52,588][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.75 Hz +[2026-09-20 21:04:59,866][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.60 Hz +[2026-09-20 21:05:02,588][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.29 Hz +[2026-09-20 21:05:09,867][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.26 Hz +[2026-09-20 21:05:12,589][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.58 Hz +[2026-09-20 21:05:17,649][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.02 iterations per second over 30.00 seconds. +[2026-09-20 21:05:17,649][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003937 s, max step_time: 0.027764 s +[2026-09-20 21:05:19,873][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.89 Hz +[2026-09-20 21:05:20,514][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.76 iterations per second over 30.00 seconds. +[2026-09-20 21:05:20,515][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003956 s, max step_time: 0.008831 s +[2026-09-20 21:05:22,594][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.29 Hz +[2026-09-20 21:05:29,546][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 21:05:29,547][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 21:05:29,874][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.33 Hz +[2026-09-20 21:05:32,595][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.86 Hz +[2026-09-20 21:05:39,878][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.42 Hz +[2026-09-20 21:05:42,597][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.54 Hz +[2026-09-20 21:05:47,652][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.90 iterations per second over 30.00 seconds. +[2026-09-20 21:05:47,652][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 54 times, mean step_time: 0.003970 s, max step_time: 0.022677 s +[2026-09-20 21:05:49,880][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.14 Hz +[2026-09-20 21:05:50,517][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.95 iterations per second over 30.00 seconds. +[2026-09-20 21:05:50,517][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 61 times, mean step_time: 0.003985 s, max step_time: 0.027779 s +[2026-09-20 21:05:52,601][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.62 Hz +[2026-09-20 21:05:59,880][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.60 Hz +[2026-09-20 21:06:02,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.09 Hz +[2026-09-20 21:06:09,839][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.79 iterations per second over 19.32 seconds. +[2026-09-20 21:06:09,848][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.01 iterations per second over 22.20 seconds. +[2026-09-20 21:06:13,431][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-20 21:06:13,433][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-20 21:06:13,433][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-20 21:06:13,433][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-20 21:06:13,433][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-20 21:06:13,433][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-20 21:06:13,433][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-20 21:06:13,433][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-20 21:06:13,433][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 21:06:13,434][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-20 21:06:13,434][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-20 21:06:13,434][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-20 21:06:13,434][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-20 21:06:13,434][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-20 21:06:13,434][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-20 21:06:13,434][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 21:06:13,435][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 21:06:13,435][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 21:06:13,435][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:06:13,435][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:06:13,435][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:06:13,435][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:06:13,435][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:06:13,435][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:06:13,435][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:06:13,435][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:06:13,435][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:06:13,435][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:06:13,435][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-20 21:06:13,435][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 21:06:13,436][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:06:13,447][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:06:13,458][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-20 21:06:13,469][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:06:13,481][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:06:13,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:13,503][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:06:13,514][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:06:13,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:13,536][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:06:13,548][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:06:13,559][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:13,570][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:06:13,581][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:06:13,592][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:13,604][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:06:13,614][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:06:13,626][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:13,636][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:06:13,648][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:06:13,659][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:13,670][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:06:13,670][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-20 21:06:13,670][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 21:06:13,670][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:06:13,726][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:06:13,780][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:06:13,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-20 21:06:13,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:06:13,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:06:13,995][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:06:14,049][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-20 21:06:14,049][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-20 21:06:14,050][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:06:14,050][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:06:14,060][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:06:14,065][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:06:14,072][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:06:14,078][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:06:14,084][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:06:14,090][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:06:14,096][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:06:14,102][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-20 21:06:14,103][root][INFO] - current_pos: [-0.03604943923094517, -0.0001907377737087046, 0.0017166399633783413, 0.007820248722056888, -0.04787518120088485, -0.10929274433508773, 0.28095674067292364] +[2026-09-20 21:06:14,103][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:06:14,103][root][INFO] - starting separate thread for control loop +[2026-09-20 21:06:14,203][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.03604943923094517, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789909574.2035177), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789909574.2035177), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789909574.2035177), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.007820248722056888, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789909574.2035177), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.04787518120088485, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789909574.2035177), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.10929274433508773, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789909574.2035177), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.28095674067292364, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789909574.2035177)] +[2026-09-20 21:06:14,203][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:06:14,203][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.2810 +[2026-09-20 21:06:14,203][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:06:14,888][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2680 +[2026-09-20 21:06:15,188][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:06:15,820][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-20 21:06:16,120][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.268368047608149, -0.007057297627218517) +[2026-09-20 21:06:16,120][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26836805 -0.0070573 ] +[2026-09-20 21:06:16,356][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 21:06:16,356][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 21:06:16,357][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-20 21:06:16,357][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-20 21:06:16,357][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-20 21:06:16,357][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-20 21:06:16,357][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-20 21:06:16,357][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-20 21:06:16,357][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-20 21:06:16,357][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-20 21:06:16,357][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-20 21:06:16,357][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-20 21:06:16,357][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-20 21:06:16,357][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 21:06:16,357][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:06:16,358][root][INFO] - initializing, .... +[2026-09-20 21:06:16,368][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-20 21:06:16,379][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:16,390][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:06:16,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-20 21:06:16,411][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:16,422][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:06:16,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-20 21:06:16,444][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:16,454][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-20 21:06:16,465][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-20 21:06:16,476][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:16,487][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:06:16,498][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-20 21:06:16,509][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:16,519][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:06:16,530][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-20 21:06:16,541][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:16,552][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:06:16,562][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-20 21:06:16,573][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-20 21:06:16,584][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-20 21:06:16,584][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-20 21:06:16,584][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 21:06:16,584][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:06:16,638][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 21:06:16,692][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 21:06:16,745][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 21:06:16,799][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 21:06:16,853][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 21:06:16,906][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 21:06:16,960][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 21:06:16,960][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 21:06:16,961][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-20 21:06:16,961][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-20 21:06:16,971][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-20 21:06:16,977][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-20 21:06:16,983][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-20 21:06:16,989][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-20 21:06:16,996][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-20 21:06:17,002][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-20 21:06:17,008][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-20 21:06:17,014][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=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-20 21:06:17,014][root][INFO] - current_pos: [0.05321583886472858, 0.0005722133211261138, 0.000953688868543523, 0.008201724269474298, 0.08144502937361686, -0.08106355382619945, 0.10929274433508773] +[2026-09-20 21:06:17,014][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-20 21:06:17,014][root][INFO] - starting separate thread for control loop +[2026-09-20 21:06:17,115][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=0.05321583886472858, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789909577.1152132), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.03418803418803407, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789909577.1152132), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=34.0, timestamp=1789909577.1152132), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.008201724269474298, voltage=-1, temp_mos=35.0, temp_rotor=37.0, timestamp=1789909577.1152132), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.08144502937361686, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789909577.1152132), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.08106355382619945, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789909577.1152132), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.10891126878767032, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789909577.1152132)] +[2026-09-20 21:06:17,115][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-20 21:06:17,115][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.1089 +[2026-09-20 21:06:17,115][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-20 21:06:17,779][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2546 +[2026-09-20 21:06:18,079][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-20 21:06:18,746][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-20 21:06:19,047][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2733272297245755, -0.011253528648817124) +[2026-09-20 21:06:19,047][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27332723 -0.01125353] +[2026-09-20 21:06:19,173][root][INFO] - initializing, .... +[2026-09-20 21:06:26,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.52 Hz +[2026-09-20 21:06:29,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.11 Hz +[2026-09-20 21:06:29,317][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 21:06:29,317][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 21:06:36,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.94 Hz +[2026-09-20 21:06:39,182][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.92 Hz +[2026-09-20 21:06:44,103][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.80 iterations per second over 30.00 seconds. +[2026-09-20 21:06:44,103][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003878 s, max step_time: 0.065105 s +[2026-09-20 21:06:46,365][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.77 Hz +[2026-09-20 21:06:46,392][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.74 iterations per second over 29.38 seconds. +[2026-09-20 21:06:46,398][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.14 iterations per second over 2.29 seconds. diff --git a/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/rounds.json b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..e9b333dbec728a498e9f523ec08c851b0ccc52ab --- /dev/null +++ b/eval/YAM/V2/pi0_20eps_20000/open_baozi/metadata/rounds.json @@ -0,0 +1,204 @@ +{ + "rounds": [ + { + "actions_sent": 976, + "chunks": 32, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0001", + "reviewed_at_ns": 1789908777511692235, + "round_number": 1, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 671, + "chunks": 22, + "data_saved": true, + "operator_result": "discard", + "output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/open_baozi/data/round_0002", + "reviewed_at_ns": 1789908835198350483, + "round_number": 2, + "status": "failed", + 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