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1789658036705499280, "actions_sent": 405, "prediction": 24, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.2862870094832, "blended_steps": 5} +{"event": "prediction_requested", "time_ns": 1789658037149768850, "actions_sent": 418, "prediction": 25, "queue_remaining": 12} +{"event": "plan_adopted", "time_ns": 1789658037252393094, "actions_sent": 421, "prediction": 25, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.32376897474751, "blended_steps": 5} +{"event": "operator_stopped", "time_ns": 1789658037543600517, "actions_sent": 430, "result": "failure"} diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0013/manifests/action.json b/eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0013/manifests/action.json new file mode 100644 index 0000000000000000000000000000000000000000..79028c8ba0fb9b290498c33a08c6f74ae12a0ace --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0013/manifests/action.json @@ -0,0 +1,28 @@ +{ + "prometheus_action_recorder": { + "counts": { + "action.executed": 430, + "camera.base_0_rgb": 453, + "camera.left_wrist_0_rgb": 454, + "camera.right_wrist_0_rgb": 453, + "dropped": 0, + "event.workflow": 1, + "items": 3604, + "robot.robot_state": 1813 + }, + "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0013", + "executed_actions": 430, + "failure": "", + "metadata": { + "round_number": 13, + "run_id": "20260917_225548_936830_round_0013", + "workflow": "openpi_rollout" + }, + "policy_action_chunks": 0, + "record_id": "prometheus_action_recorder", + "record_mode": "action", + "schema": "prometheus_raw_episode_v1", + "status": "saved", + "updated_at_unix": 1789658037.6588447 + } +} diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/config.yaml b/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..72a19c041bee6ec94107e7d11fe834a825feda70 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,239 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: outputs/openpi_rollout/seven_tasks_2500/catch_and_place + steps: 40 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 30 +policy: + host: 127.0.0.1 + port: 8000 + prompt: Use the right arm to pick up the bowl, hand it over to the left arm, and + place it on the plate to the left. + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 120.0 +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${run.id} + wait_all_streams: true + qos_depth: 10 + stamp_source: header + sensor_qos: reliable + streams: + robot_state: + topic: /prometheus/robots/yam/state + msg_type: sensor_msgs.msg.JointState + domain: robot + ros_domain_id: 21 + base_0_color: + topic: /prometheus/sensors/cameras/base_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + left_wrist_0_color: + topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + right_wrist_0_color: + topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw + msg_type: sensor_msgs.msg.Image + domain: sensor + ros_domain_id: 22 + name: openpi_data + mode: owned + numpy: + enabled: true + recording: + enabled: true + output_dir: ${run.output_dir}/data + queue_size: 4096 + fps: 30.0 + camera_encoder: libx264 + default_event_value: null + enable_plots: false +robot: + _target_: prometheus.nodes.robots.yam.resolve_robot + id: yam + control_domain_id: 21 + sensor_domain_id: 22 + collection_input_source: pedal,tty + collection_pedal: + devices: + - /dev/input/prometheus-pedal + - /dev/input/prometheus-pedal-aux + exclusive: true + confirm_presses: 2 + confirm_window_s: 1.0 + debounce_s: 0.05 + pedal_map: + 30: 0 + 48: 1 + 46: 2 + 32: 3 + 2: 0 + 3: 1 + 4: 2 + 5: 3 + robot: + state_publish_hz: 120 + control_hz: 120 + action_space: abs_qpos + leader_arm: yam + follower_arm: yam_ultra + leader_gripper: yam_teaching_handle + follower_gripper: linear_4310 + gripper_width_m: 0.096 + alignment_duration_s: 3.0 + bilateral_kp: 0.0 + teleoperation_enabled: false + require_enable_button: false + enable_auto_recovery: false + sim: false + home_return: + enabled: false + max_velocity: 0.3 + min_duration_s: 3.0 + timeout_s: 25.0 + kp_scale: 1.0 + position_tolerance: 0.05 + velocity_tolerance: 0.1 + settle_s: 0.3 + tracking_error_limit: 0.35 + feedback_timeout_s: 0.5 + leader_can: null + follower_can: + left: can_follower_l + right: can_follower_r + collection_mode: policy + policy_control: + urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf + stop_file: /tmp/prometheus_openpi/STOP + hz: 30.0 + feedback_timeout_s: 0.2 + command_timeout_s: 0.25 + velocity_limits: + - 6.503956017494202 + - 7.554651925563812 + - 9.670842275619506 + - 10.588351378440857 + - 8.72373610496521 + - 13.252087483406067 + - 1.2993822544813156 + - 8.664541969299316 + - 10.73633671760559 + - 14.77633719921112 + - 17.380879168510436 + - 20.799341225624083 + - 7.747032866477967 + - 1.3316887146234513 + stationary_velocity_limits: + - 0.09619047798216343 + - 0.09619047798216343 + - 0.09125763334333897 + - 0.09619047798216343 + - 0.11098901189863682 + - 0.18498168900609016 + - 0.014679903751239181 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.10112332262098789 + - 0.11098901189863682 + - 0.14058608725667 + - 0.2885714414715767 + - 0.014345181323587895 + command_velocity_limits: + - 7.326937734087213 + - 7.492612143357643 + - 9.039960411055707 + - 10.989442599937178 + - 11.822247140410347 + - 21.729793477053846 + - 4.549583926449072 + - 9.542591565847905 + - 16.49783855493206 + - 19.18122166486826 + - 20.271305218109156 + - 13.274309575261345 + - 14.009155302643812 + - 4.764187300355128 + acceleration_limits: + - 118.7426430016755 + - 165.012131490699 + - 134.04180689399348 + - 274.86399842805685 + - 195.25766555964873 + - 454.5340796113012 + - 109.40927818565227 + - 178.49339036295515 + - 476.6444930964641 + - 557.9080874526715 + - 587.1810202100611 + - 362.1711802492357 + - 208.8803265352197 + - 208.9010343469399 + tracking_error_limits: + - 0.20073625504970552 + - 0.309388148188591 + - 0.29782940477132797 + - 0.22655070275068284 + - 0.5001068050414323 + - 0.7771305423974991 + - 0.06952205713838339 + - 0.268162048868835 + - 0.3556229412555695 + - 0.4542571985721588 + - 0.3109293460845947 + - 1.0653276860713958 + - 0.45733958966098726 + - 0.07211417473852634 + cameras: + capture_hz: 30 + capture_width: 640 + capture_height: 480 + publish_hz: 30 + collect_ir: false + ir: false + prepub_resize: 1.0 + camera_info: false + serial_no: + base_0: '260322272085' + left_wrist_0: '260422275825' + right_wrist_0: '260322279382' + qos: reliable +execute: true +async_inference: + enabled: true + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 0.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: Pi0.5 - Async execution + width: 1280 + height: 720 + fps: 20.0 + stale_timeout_s: 1.0 + host: 127.0.0.1 + port: 7860 + refresh_ms: 100 diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..76f37a14250b451f534ea0fb284f0ca8be4a566f --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.host=127.0.0.1 + - policy.port=8000 + - run.steps=40 + - run.action_steps=30 + - policy.prompt="Use the right arm to pick up the bowl, hand it over to the left + arm, and place it on the plate to the left." + - run.output_dir=outputs/openpi_rollout/seven_tasks_2500/catch_and_place + job: + name: openpi_rollout + chdir: false + override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use + the right arm to pick up the bowl, hand it over to the left arm, and place it + on the plate to the left.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/seven_tasks_2500/catch_and_place,run.steps=40 + id: ??? + num: ??? + config_name: openpi_seven_tasks_2500 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.6 + version_base: '1.3' + cwd: /home/romoya-1/openpi-workspace/PrometheusV2 + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/seven_tasks_2500/catch_and_place/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2197a241494de6f62a22d5c46f501ee408adbd23 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.host=127.0.0.1 +- policy.port=8000 +- run.steps=40 +- run.action_steps=30 +- policy.prompt="Use the right arm to pick up the bowl, hand it over to the left arm, + and place it on the plate to the left." +- run.output_dir=outputs/openpi_rollout/seven_tasks_2500/catch_and_place diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/openpi_rollout.log b/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/openpi_rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..276d02808c406ccef909b888be9484aa75bae7d5 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/openpi_rollout.log @@ -0,0 +1,1309 @@ +[2026-09-17 22:47:28,706][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 22:47:28,707][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 22:47:28,707][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 22:47:28,707][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 22:47:28,707][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 22:47:28,707][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 22:47:28,707][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 22:47:28,707][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 22:47:28,707][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 22:47:28,708][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 22:47:28,708][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 22:47:28,708][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 22:47:28,708][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 22:47:28,708][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 22:47:28,708][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 22:47:28,708][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:47:28,709][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:47:28,709][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:47:28,709][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 22:47:28,709][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:47:28,710][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:47:28,722][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:47:28,733][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 22:47:28,744][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:47:28,755][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:47:28,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:28,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:47:28,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:47:28,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:28,810][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:47:28,821][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:47:28,832][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:28,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:47:28,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:47:28,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:28,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:47:28,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:47:28,897][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:28,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:47:28,919][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:47:28,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:28,940][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:47:28,940][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-17 22:47:28,940][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:47:28,941][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:47:28,994][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:47:29,048][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:47:29,103][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:47:29,157][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:47:29,211][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:47:29,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:47:29,319][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:47:29,319][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 22:47:29,319][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:47:29,319][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:47:29,330][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:47:29,335][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:47:29,342][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:47:29,348][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:47:29,354][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:47:29,360][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:47:29,366][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:47:29,372][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 22:47:29,372][root][INFO] - current_pos: [-0.05245288776989376, -0.0001907377737087046, 0.0017166399633783413, 0.0005722133211261138, 0.015449759670405072, 0.13408865491721933, 0.022697795071335847] +[2026-09-17 22:47:29,372][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:47:29,372][root][INFO] - starting separate thread for control loop +[2026-09-17 22:47:29,473][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=-0.05245288776989376, voltage=-1, temp_mos=26.0, temp_rotor=23.0, timestamp=1789656449.473102), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789656449.473102), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789656449.473102), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789656449.473102), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789656449.473102), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0219780219780219, eff=-0.0024420024420024333, pos=0.13447013046463674, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656449.473102), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.022697795071335847, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789656449.473102)] +[2026-09-17 22:47:29,473][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:47:29,473][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-17 22:47:29,473][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:47:30,098][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 22:47:30,398][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:47:31,030][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 22:47:31,330][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270656900892654, -0.00705729762722207) +[2026-09-17 22:47:31,331][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2706569 -0.0070573] +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:47:31,575][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:47:31,575][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:47:31,575][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 22:47:31,575][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:47:31,575][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:47:31,576][root][INFO] - initializing, .... +[2026-09-17 22:47:31,586][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:47:31,597][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:31,608][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:47:31,619][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:47:31,630][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:31,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:47:31,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:47:31,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:31,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:47:31,686][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:47:31,697][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:31,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:47:31,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:47:31,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:31,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:47:31,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:47:31,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:31,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:47:31,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:47:31,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:47:31,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:47:31,805][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 22:47:31,805][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:47:31,805][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:47:31,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:47:31,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:47:31,967][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:47:32,021][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:47:32,074][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:47:32,128][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:47:32,182][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:47:32,182][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 22:47:32,183][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:47:32,183][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:47:32,193][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:47:32,199][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:47:32,206][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:47:32,212][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:47:32,218][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:47:32,224][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:47:32,230][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:47:32,236][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)] +[2026-09-17 22:47:32,236][root][INFO] - current_pos: [0.01201647974364839, -0.0013351644159609322, 0.000953688868543523, 0.002861066605630569, -0.06733043411917272, 0.06733043411917272, 0.6979095140001519] +[2026-09-17 22:47:32,236][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:47:32,236][root][INFO] - starting separate thread for control loop +[2026-09-17 22:47:32,337][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.04786324786324769, pos=0.01201647974364839, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789656452.3371923), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656452.3371923), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789656452.3371923), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.002861066605630569, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789656452.3371923), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06733043411917272, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789656452.3371923), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.06733043411917272, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656452.3371923), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.6979095140001519, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789656452.3371923)] +[2026-09-17 22:47:32,337][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:47:32,337][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.6979 +[2026-09-17 22:47:32,337][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:47:33,008][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-17 22:47:33,308][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:47:33,922][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 22:47:34,222][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252727550164035, -0.010872053101396162) +[2026-09-17 22:47:34,222][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25272755 -0.01087205] +[2026-09-17 22:47:34,347][root][INFO] - initializing, .... +[2026-09-17 22:47:41,582][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.20 Hz +[2026-09-17 22:47:44,350][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 240.99 Hz +[2026-09-17 22:47:51,585][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.91 Hz +[2026-09-17 22:47:54,352][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.14 Hz +[2026-09-17 22:47:59,376][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.61 iterations per second over 30.00 seconds. +[2026-09-17 22:47:59,376][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003974 s, max step_time: 0.063776 s +[2026-09-17 22:47:59,567][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:47:59,567][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:48:01,587][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.40 Hz +[2026-09-17 22:48:02,237][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.66 iterations per second over 30.00 seconds. +[2026-09-17 22:48:02,237][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.004021 s, max step_time: 0.059788 s +[2026-09-17 22:48:04,352][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.80 Hz +[2026-09-17 22:48:11,586][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.08 Hz +[2026-09-17 22:48:14,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.86 Hz +[2026-09-17 22:48:21,589][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.92 Hz +[2026-09-17 22:48:24,358][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.32 Hz +[2026-09-17 22:48:29,379][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.21 iterations per second over 30.00 seconds. +[2026-09-17 22:48:29,379][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003858 s, max step_time: 0.044579 s +[2026-09-17 22:48:31,590][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.68 Hz +[2026-09-17 22:48:32,239][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.58 iterations per second over 30.00 seconds. +[2026-09-17 22:48:32,255][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003899 s, max step_time: 0.019742 s +[2026-09-17 22:48:34,358][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.77 Hz +[2026-09-17 22:48:41,593][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.83 Hz +[2026-09-17 22:48:44,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.26 Hz +[2026-09-17 22:48:51,595][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.98 Hz +[2026-09-17 22:48:54,361][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.88 Hz +[2026-09-17 22:48:58,011][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:48:58,011][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:48:59,380][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 245.39 iterations per second over 30.00 seconds. +[2026-09-17 22:48:59,380][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.004075 s, max step_time: 0.034513 s +[2026-09-17 22:49:01,594][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.30 Hz +[2026-09-17 22:49:02,243][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.87 iterations per second over 30.00 seconds. +[2026-09-17 22:49:02,258][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004048 s, max step_time: 0.025854 s +[2026-09-17 22:49:04,363][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.74 Hz +[2026-09-17 22:49:11,599][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.98 Hz +[2026-09-17 22:49:14,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.58 Hz +[2026-09-17 22:49:21,602][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.21 Hz +[2026-09-17 22:49:24,366][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.86 Hz +[2026-09-17 22:49:29,384][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.57 iterations per second over 30.00 seconds. +[2026-09-17 22:49:29,384][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003867 s, max step_time: 0.007632 s +[2026-09-17 22:49:31,605][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.42 Hz +[2026-09-17 22:49:32,247][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.10 iterations per second over 30.00 seconds. +[2026-09-17 22:49:32,259][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003921 s, max step_time: 0.008456 s +[2026-09-17 22:49:34,369][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.25 Hz +[2026-09-17 22:49:41,608][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.25 Hz +[2026-09-17 22:49:44,368][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.48 Hz +[2026-09-17 22:49:51,609][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 +[2026-09-17 22:49:54,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.89 Hz +[2026-09-17 22:49:55,129][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:49:55,129][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:49:59,385][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 245.59 iterations per second over 30.00 seconds. +[2026-09-17 22:49:59,385][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004072 s, max step_time: 0.029008 s +[2026-09-17 22:50:01,609][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.68 Hz +[2026-09-17 22:50:02,247][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.17 iterations per second over 30.00 seconds. +[2026-09-17 22:50:02,260][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.004045 s, max step_time: 0.029408 s +[2026-09-17 22:50:04,371][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 +[2026-09-17 22:50:11,610][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.97 Hz +[2026-09-17 22:50:14,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.79 Hz +[2026-09-17 22:50:21,611][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.64 Hz +[2026-09-17 22:50:24,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.49 Hz +[2026-09-17 22:50:29,385][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.86 iterations per second over 30.00 seconds. +[2026-09-17 22:50:31,614][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.53 Hz +[2026-09-17 22:50:32,249][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.35 iterations per second over 30.00 seconds. +[2026-09-17 22:50:34,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.55 Hz +[2026-09-17 22:50:37,421][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003883 s, max step_time: 0.007401 s +[2026-09-17 22:50:41,614][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.99 Hz +[2026-09-17 22:50:44,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.51 Hz +[2026-09-17 22:50:49,368][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003875 s, max step_time: 0.007396 s +[2026-09-17 22:50:51,619][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.19 Hz +[2026-09-17 22:50:54,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.70 Hz +[2026-09-17 22:50:59,388][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.34 iterations per second over 30.00 seconds. +[2026-09-17 22:51:01,622][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.11 Hz +[2026-09-17 22:51:02,249][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.37 iterations per second over 30.00 seconds. +[2026-09-17 22:51:04,379][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.15 Hz +[2026-09-17 22:51:07,424][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003921 s, max step_time: 0.011950 s +[2026-09-17 22:51:11,626][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.51 Hz +[2026-09-17 22:51:14,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.94 Hz +[2026-09-17 22:51:19,370][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.003916 s, max step_time: 0.012339 s +[2026-09-17 22:51:21,629][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.71 Hz +[2026-09-17 22:51:24,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.38 Hz +[2026-09-17 22:51:29,393][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.09 iterations per second over 30.00 seconds. +[2026-09-17 22:51:31,630][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.77 Hz +[2026-09-17 22:51:32,250][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.89 iterations per second over 30.00 seconds. +[2026-09-17 22:51:34,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.20 Hz +[2026-09-17 22:51:34,673][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.14 iterations per second over 2.42 seconds. +[2026-09-17 22:51:34,681][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.07 iterations per second over 5.29 seconds. +[2026-09-17 22:51:38,489][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 22:51:38,490][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 22:51:38,490][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 22:51:38,490][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 22:51:38,490][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 22:51:38,490][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 22:51:38,490][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 22:51:38,490][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 22:51:38,490][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 22:51:38,491][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 22:51:38,491][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 22:51:38,491][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 22:51:38,491][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 22:51:38,491][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 22:51:38,491][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 22:51:38,491][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:51:38,492][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:51:38,492][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:51:38,492][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 22:51:38,492][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:51:38,493][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:51:38,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:51:38,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 22:51:38,528][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:51:38,539][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:51:38,550][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:38,561][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:51:38,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:51:38,584][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:38,595][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:51:38,606][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:51:38,617][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:38,628][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:51:38,639][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:51:38,650][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:38,661][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:51:38,672][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:51:38,683][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:38,694][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:51:38,705][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:51:38,716][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:38,727][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:51:38,727][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-17 22:51:38,728][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:51:38,728][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:51:38,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:51:38,840][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:51:38,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:51:38,951][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:51:39,004][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:51:39,058][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:51:39,112][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:51:39,112][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 22:51:39,112][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:51:39,112][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:51:39,123][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:51:39,128][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:51:39,135][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:51:39,142][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:51:39,148][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:51:39,154][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:51:39,160][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:51:39,166][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 22:51:39,167][root][INFO] - current_pos: [0.046349279011215216, -0.0001907377737087046, 0.03147173266193626, -0.051689936675058945, 0.16918440527962098, 0.037193865873197396, 0.019645990691996573] +[2026-09-17 22:51:39,167][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:51:39,167][root][INFO] - starting separate thread for control loop +[2026-09-17 22:51:39,267][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=0.046349279011215216, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789656699.267421), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656699.267421), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=0.03147173266193626, voltage=-1, temp_mos=30.0, temp_rotor=34.0, timestamp=1789656699.267421), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.05130846112763798, voltage=-1, temp_mos=31.0, temp_rotor=35.0, timestamp=1789656699.267421), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=0.16918440527962098, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789656699.267421), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.037193865873197396, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656699.267421), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.019645990691996573, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789656699.267421)] +[2026-09-17 22:51:39,267][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:51:39,267][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0196 +[2026-09-17 22:51:39,267][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:51:39,895][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 22:51:40,195][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:51:40,824][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 22:51:41,124][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-17 22:51:41,124][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-17 22:51:41,359][root][INFO] - initializing, .... +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:51:41,360][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:51:41,360][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:51:41,360][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 22:51:41,360][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:51:41,360][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:51:41,371][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:51:41,382][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:41,393][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:51:41,404][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:51:41,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:41,426][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:51:41,437][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:51:41,448][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:41,459][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:51:41,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:51:41,480][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:41,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:51:41,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:51:41,512][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:41,523][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:51:41,534][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:51:41,545][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:41,555][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:51:41,566][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:51:41,577][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:51:41,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:51:41,588][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 22:51:41,588][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:51:41,588][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:51:41,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:51:41,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:51:41,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:51:41,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:51:41,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:51:41,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:51:41,963][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:51:41,963][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 22:51:41,963][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:51:41,963][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:51:41,974][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:51:41,979][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:51:41,985][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:51:41,991][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:51:41,997][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:51:42,003][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:51:42,009][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:51:42,015][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, 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)] +[2026-09-17 22:51:42,015][root][INFO] - current_pos: [-0.08144502937361686, -0.0013351644159609322, 0.0005722133211261138, 0.0036240177004653873, -0.06466010528725086, 0.05245288776989376, 0.006294346532387252] +[2026-09-17 22:51:42,015][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:51:42,015][root][INFO] - starting separate thread for control loop +[2026-09-17 22:51:42,116][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.08144502937361686, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789656702.1163495), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789656702.1163495), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789656702.1163495), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.0036240177004653873, voltage=-1, temp_mos=30.0, temp_rotor=33.0, timestamp=1789656702.1163495), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0073260073260073, pos=-0.06466010528725086, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789656702.1163495), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.05245288776989376, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656702.1163495), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=0.006294346532387252, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656702.1163495)] +[2026-09-17 22:51:42,116][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:51:42,116][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063 +[2026-09-17 22:51:42,116][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:51:42,788][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-17 22:51:43,088][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:51:43,713][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 22:51:44,013][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2752346074616625, -0.01087205310139261) +[2026-09-17 22:51:44,014][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27523461 -0.01087205] +[2026-09-17 22:51:44,145][root][INFO] - initializing, .... +[2026-09-17 22:51:51,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.46 Hz +[2026-09-17 22:51:54,148][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 239.70 Hz +[2026-09-17 22:52:01,363][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.18 Hz +[2026-09-17 22:52:04,150][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.15 Hz +[2026-09-17 22:52:06,405][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:52:06,405][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:52:09,168][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.52 iterations per second over 30.00 seconds. +[2026-09-17 22:52:09,168][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.003960 s, max step_time: 0.067525 s +[2026-09-17 22:52:11,367][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.22 Hz +[2026-09-17 22:52:12,018][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.14 iterations per second over 30.00 seconds. +[2026-09-17 22:52:12,018][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.004013 s, max step_time: 0.068125 s +[2026-09-17 22:52:14,153][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.23 Hz +[2026-09-17 22:52:21,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.92 Hz +[2026-09-17 22:52:24,155][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.23 Hz +[2026-09-17 22:52:31,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.64 Hz +[2026-09-17 22:52:34,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.69 Hz +[2026-09-17 22:52:39,169][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.79 iterations per second over 30.00 seconds. +[2026-09-17 22:52:39,170][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003894 s, max step_time: 0.007269 s +[2026-09-17 22:52:41,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.60 Hz +[2026-09-17 22:52:42,021][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.61 iterations per second over 30.00 seconds. +[2026-09-17 22:52:42,021][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003912 s, max step_time: 0.007188 s +[2026-09-17 22:52:44,159][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.52 Hz +[2026-09-17 22:52:51,372][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.50 Hz +[2026-09-17 22:52:54,163][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.42 Hz +[2026-09-17 22:53:01,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.49 Hz +[2026-09-17 22:53:04,164][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.58 Hz +[2026-09-17 22:53:09,171][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.51 iterations per second over 30.00 seconds. +[2026-09-17 22:53:09,171][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003945 s, max step_time: 0.007836 s +[2026-09-17 22:53:11,379][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.49 Hz +[2026-09-17 22:53:12,022][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.12 iterations per second over 30.00 seconds. +[2026-09-17 22:53:12,022][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003982 s, max step_time: 0.007948 s +[2026-09-17 22:53:14,165][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.35 Hz +[2026-09-17 22:53:14,860][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:53:14,861][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:53:21,380][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.73 Hz +[2026-09-17 22:53:24,165][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.99 Hz +[2026-09-17 22:53:31,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.89 Hz +[2026-09-17 22:53:34,166][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.69 Hz +[2026-09-17 22:53:39,172][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.79 iterations per second over 30.00 seconds. +[2026-09-17 22:53:39,172][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003987 s, max step_time: 0.036677 s +[2026-09-17 22:53:41,292][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:53:41,292][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:53:41,383][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.03 Hz +[2026-09-17 22:53:42,024][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.12 iterations per second over 30.00 seconds. +[2026-09-17 22:53:42,024][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003998 s, max step_time: 0.022433 s +[2026-09-17 22:53:44,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.84 Hz +[2026-09-17 22:53:51,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.13 Hz +[2026-09-17 22:53:54,172][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.11 Hz +[2026-09-17 22:54:01,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.21 Hz +[2026-09-17 22:54:04,176][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.51 Hz +[2026-09-17 22:54:09,174][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.99 iterations per second over 30.00 seconds. +[2026-09-17 22:54:09,174][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003984 s, max step_time: 0.019858 s +[2026-09-17 22:54:11,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.64 Hz +[2026-09-17 22:54:12,027][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.71 iterations per second over 30.00 seconds. +[2026-09-17 22:54:12,027][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003989 s, max step_time: 0.009572 s +[2026-09-17 22:54:14,178][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 241.89 Hz +[2026-09-17 22:54:21,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.35 Hz +[2026-09-17 22:54:21,793][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:54:21,793][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:54:24,177][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.67 Hz +[2026-09-17 22:54:31,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.86 Hz +[2026-09-17 22:54:34,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.41 Hz +[2026-09-17 22:54:39,177][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.07 iterations per second over 30.00 seconds. +[2026-09-17 22:54:39,177][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003920 s, max step_time: 0.034093 s +[2026-09-17 22:54:41,396][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.07 Hz +[2026-09-17 22:54:42,029][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.08 iterations per second over 30.00 seconds. +[2026-09-17 22:54:42,029][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003920 s, max step_time: 0.025748 s +[2026-09-17 22:54:44,183][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.32 Hz +[2026-09-17 22:54:51,400][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.82 Hz +[2026-09-17 22:54:54,185][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.58 Hz +[2026-09-17 22:55:01,400][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.58 Hz +[2026-09-17 22:55:04,185][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.27 Hz +[2026-09-17 22:55:09,180][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.74 iterations per second over 30.00 seconds. +[2026-09-17 22:55:09,180][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003880 s, max step_time: 0.009536 s +[2026-09-17 22:55:11,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.86 Hz +[2026-09-17 22:55:12,030][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.62 iterations per second over 30.00 seconds. +[2026-09-17 22:55:12,031][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003867 s, max step_time: 0.009689 s +[2026-09-17 22:55:14,187][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.37 Hz +[2026-09-17 22:55:21,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.96 Hz +[2026-09-17 22:55:24,189][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.83 Hz +[2026-09-17 22:55:31,407][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.31 Hz +[2026-09-17 22:55:34,190][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 +[2026-09-17 22:55:39,181][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.53 iterations per second over 30.00 seconds. +[2026-09-17 22:55:39,181][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 69 times, mean step_time: 0.003868 s, max step_time: 0.013673 s +[2026-09-17 22:55:41,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.72 Hz +[2026-09-17 22:55:42,031][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.76 iterations per second over 30.00 seconds. +[2026-09-17 22:55:42,031][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 67 times, mean step_time: 0.003865 s, max step_time: 0.012482 s +[2026-09-17 22:55:44,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.58 Hz +[2026-09-17 22:55:47,466][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.70 iterations per second over 5.44 seconds. +[2026-09-17 22:55:47,472][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.87 iterations per second over 8.29 seconds. +[2026-09-17 22:55:49,263][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 22:55:49,264][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 22:55:49,264][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 22:55:49,264][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 22:55:49,264][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 22:55:49,264][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 22:55:49,264][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 22:55:49,264][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 22:55:49,265][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 22:55:49,266][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 22:55:49,266][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 22:55:49,266][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 22:55:49,266][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 22:55:49,266][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 22:55:49,266][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 22:55:49,266][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-17 22:55:49,266][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 22:55:49,266][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 22:55:49,266][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:55:49,267][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:55:49,267][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:55:49,267][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:55:49,267][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:55:49,267][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:55:49,267][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:55:49,267][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:55:49,267][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:55:49,267][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:55:49,267][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 22:55:49,267][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:55:49,268][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:55:49,279][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:55:49,290][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 22:55:49,301][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:55:49,313][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:55:49,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:49,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:55:49,346][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:55:49,357][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:49,368][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:55:49,379][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:55:49,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:49,402][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:55:49,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:55:49,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:49,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:55:49,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:55:49,457][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:49,468][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:55:49,479][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:55:49,491][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:49,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:55:49,502][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-17 22:55:49,502][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:55:49,502][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:55:49,557][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:55:49,611][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:55:49,666][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:55:49,720][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:55:49,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:55:49,828][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:55:49,881][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:55:49,881][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 22:55:49,882][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:55:49,882][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:55:49,892][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:55:49,898][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:55:49,904][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:55:49,910][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:55:49,915][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:55:49,921][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:55:49,928][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:55:49,934][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 22:55:49,934][root][INFO] - current_pos: [-0.00705729762722207, -0.0001907377737087046, 0.0013351644159609322, 0.008201724269474298, -0.05054551003280672, 0.06351567864499863, 0.015449759670405072] +[2026-09-17 22:55:49,934][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:55:49,934][root][INFO] - starting separate thread for control loop +[2026-09-17 22:55:50,035][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.00705729762722207, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789656950.0353386), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=-0.0001907377737087046, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656950.0353386), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=34.0, timestamp=1789656950.0353386), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.008201724269474298, voltage=-1, temp_mos=31.0, temp_rotor=36.0, timestamp=1789656950.0353386), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.017094017094017033, pos=-0.05054551003280672, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789656950.0353386), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.06351567864499863, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656950.0353386), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.015449759670405072, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656950.0353386)] +[2026-09-17 22:55:50,035][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:55:50,035][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0154 +[2026-09-17 22:55:50,035][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:55:50,713][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 22:55:51,013][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:55:51,644][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 22:55:51,944][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.282101167315176, -0.00705729762722207) +[2026-09-17 22:55:51,945][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28210117 -0.0070573 ] +[2026-09-17 22:55:52,180][root][INFO] - initializing, .... +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 22:55:52,181][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 22:55:52,181][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 22:55:52,181][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 22:55:52,181][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:55:52,182][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:55:52,193][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 22:55:52,203][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:52,214][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:55:52,225][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 22:55:52,235][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:52,246][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:55:52,257][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 22:55:52,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:52,278][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 22:55:52,289][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 22:55:52,300][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:52,311][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:55:52,322][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 22:55:52,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:52,343][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:55:52,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 22:55:52,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:52,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:55:52,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 22:55:52,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 22:55:52,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 22:55:52,408][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 22:55:52,408][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 22:55:52,408][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:55:52,462][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:55:52,515][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:55:52,569][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 22:55:52,623][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:55:52,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:55:52,729][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:55:52,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 22:55:52,783][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 22:55:52,783][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 22:55:52,783][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 22:55:52,794][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 22:55:52,799][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 22:55:52,805][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 22:55:52,811][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 22:55:52,817][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 22:55:52,824][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 22:55:52,830][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 22:55:52,836][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, 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)] +[2026-09-17 22:55:52,836][root][INFO] - current_pos: [-0.0207904173342488, -0.000953688868543523, 0.000953688868543523, 0.000953688868543523, -0.04482337682154558, 0.1287479972533756, 0.19703212024109185] +[2026-09-17 22:55:52,836][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 22:55:52,836][root][INFO] - starting separate thread for control loop +[2026-09-17 22:55:52,937][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.02051282051282044, pos=-0.0207904173342488, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789656952.9372795), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159644849, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789656952.9372795), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789656952.9372795), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=34.0, timestamp=1789656952.9372795), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.04482337682154558, voltage=-1, temp_mos=28.0, temp_rotor=28.0, timestamp=1789656952.9372795), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.1287479972533756, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789656952.9372795), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=0.19703212024109185, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789656952.9372795)] +[2026-09-17 22:55:52,937][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 22:55:52,937][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.1970 +[2026-09-17 22:55:52,937][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 22:55:53,554][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2535 +[2026-09-17 22:55:53,854][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 22:55:54,468][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0113 +[2026-09-17 22:55:54,768][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.261882963302053, -0.011253528648817124) +[2026-09-17 22:55:54,768][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26188296 -0.01125353] +[2026-09-17 22:55:54,899][root][INFO] - initializing, .... +[2026-09-17 22:56:02,184][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.30 Hz +[2026-09-17 22:56:04,899][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.16 Hz +[2026-09-17 22:56:10,805][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:56:10,805][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 22:56:12,185][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.95 Hz +[2026-09-17 22:56:14,900][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.37 Hz +[2026-09-17 22:56:19,935][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.53 iterations per second over 30.00 seconds. +[2026-09-17 22:56:19,936][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003913 s, max step_time: 0.065056 s +[2026-09-17 22:56:22,186][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.68 Hz +[2026-09-17 22:56:22,840][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.74 iterations per second over 30.00 seconds. +[2026-09-17 22:56:22,840][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003972 s, max step_time: 0.064828 s +[2026-09-17 22:56:24,903][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.63 Hz +[2026-09-17 22:56:32,191][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.62 Hz +[2026-09-17 22:56:34,904][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.19 Hz +[2026-09-17 22:56:42,193][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.21 Hz +[2026-09-17 22:56:44,907][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.21 Hz +[2026-09-17 22:56:49,938][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.31 iterations per second over 30.00 seconds. +[2026-09-17 22:56:49,938][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003886 s, max step_time: 0.008117 s +[2026-09-17 22:56:52,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.19 Hz +[2026-09-17 22:56:52,842][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.28 iterations per second over 30.00 seconds. +[2026-09-17 22:56:52,842][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003902 s, max step_time: 0.007634 s +[2026-09-17 22:56:54,911][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.21 Hz +[2026-09-17 22:57:02,194][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.28 Hz +[2026-09-17 22:57:04,913][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.64 Hz +[2026-09-17 22:57:12,195][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.97 Hz +[2026-09-17 22:57:14,916][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.35 Hz +[2026-09-17 22:57:19,941][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.17 iterations per second over 30.00 seconds. +[2026-09-17 22:57:19,942][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003859 s, max step_time: 0.007435 s +[2026-09-17 22:57:22,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.76 Hz +[2026-09-17 22:57:22,842][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.53 iterations per second over 30.00 seconds. +[2026-09-17 22:57:24,917][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.25 Hz +[2026-09-17 22:57:32,200][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.12 Hz +[2026-09-17 22:57:34,917][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.97 Hz +[2026-09-17 22:57:42,202][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 265.14 Hz +[2026-09-17 22:57:44,921][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.60 Hz +[2026-09-17 22:57:45,740][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003845 s, max step_time: 0.007385 s +[2026-09-17 22:57:49,942][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.22 iterations per second over 30.00 seconds. +[2026-09-17 22:57:52,204][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.72 Hz +[2026-09-17 22:57:52,843][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.63 iterations per second over 30.00 seconds. +[2026-09-17 22:57:54,924][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.02 Hz +[2026-09-17 22:57:57,808][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003843 s, max step_time: 0.007005 s +[2026-09-17 22:58:02,208][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.14 Hz +[2026-09-17 22:58:04,927][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.63 Hz +[2026-09-17 22:58:12,211][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.63 Hz +[2026-09-17 22:58:14,930][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.73 Hz +[2026-09-17 22:58:19,945][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.24 iterations per second over 30.00 seconds. +[2026-09-17 22:58:22,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.92 Hz +[2026-09-17 22:58:22,846][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.18 iterations per second over 30.00 seconds. +[2026-09-17 22:58:24,933][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.23 Hz +[2026-09-17 22:58:27,811][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003842 s, max step_time: 0.021024 s +[2026-09-17 22:58:32,216][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.95 Hz +[2026-09-17 22:58:34,935][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.82 Hz +[2026-09-17 22:58:42,217][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.74 Hz +[2026-09-17 22:58:44,938][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.42 Hz +[2026-09-17 22:58:49,947][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.69 iterations per second over 30.00 seconds. +[2026-09-17 22:58:52,218][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.29 Hz +[2026-09-17 22:58:52,849][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.74 iterations per second over 30.00 seconds. +[2026-09-17 22:58:54,939][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.69 Hz +[2026-09-17 22:58:56,710][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003866 s, max step_time: 0.007496 s +[2026-09-17 22:58:59,333][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003852 s, max step_time: 0.007493 s +[2026-09-17 22:59:02,218][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.28 Hz +[2026-09-17 22:59:04,942][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.82 Hz +[2026-09-17 22:59:12,221][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.14 Hz +[2026-09-17 22:59:14,944][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.54 Hz +[2026-09-17 22:59:19,950][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.28 iterations per second over 30.00 seconds. +[2026-09-17 22:59:22,222][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.67 Hz +[2026-09-17 22:59:22,851][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.21 iterations per second over 30.00 seconds. +[2026-09-17 22:59:24,944][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.89 Hz +[2026-09-17 22:59:26,712][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003886 s, max step_time: 0.009651 s +[2026-09-17 22:59:29,334][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003872 s, max step_time: 0.008893 s +[2026-09-17 22:59:32,225][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.73 Hz +[2026-09-17 22:59:34,947][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.84 Hz +[2026-09-17 22:59:42,226][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.46 Hz +[2026-09-17 22:59:44,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.83 Hz +[2026-09-17 22:59:49,953][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.40 iterations per second over 30.00 seconds. +[2026-09-17 22:59:52,228][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.06 Hz +[2026-09-17 22:59:52,855][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.46 iterations per second over 30.00 seconds. +[2026-09-17 22:59:54,953][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.71 Hz +[2026-09-17 22:59:56,713][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003882 s, max step_time: 0.010400 s +[2026-09-17 22:59:59,334][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003852 s, max step_time: 0.011053 s +[2026-09-17 23:00:02,230][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.97 Hz +[2026-09-17 23:00:04,956][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.33 Hz +[2026-09-17 23:00:12,230][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.77 Hz +[2026-09-17 23:00:14,956][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.09 Hz +[2026-09-17 23:00:19,955][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.51 iterations per second over 30.00 seconds. +[2026-09-17 23:00:22,232][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.27 Hz +[2026-09-17 23:00:22,856][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.73 iterations per second over 30.00 seconds. +[2026-09-17 23:00:24,959][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.31 Hz +[2026-09-17 23:00:26,713][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 31 times, mean step_time: 0.003849 s, max step_time: 0.010557 s +[2026-09-17 23:00:29,336][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 36 times, mean step_time: 0.003848 s, max step_time: 0.011465 s +[2026-09-17 23:00:32,233][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.17 Hz +[2026-09-17 23:00:34,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.10 Hz +[2026-09-17 23:00:42,236][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.02 Hz +[2026-09-17 23:00:44,961][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.94 Hz +[2026-09-17 23:00:49,958][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.11 iterations per second over 30.00 seconds. +[2026-09-17 23:00:52,239][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.83 Hz +[2026-09-17 23:00:52,859][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.44 iterations per second over 30.00 seconds. +[2026-09-17 23:00:54,964][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.15 Hz +[2026-09-17 23:00:56,716][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 36 times, mean step_time: 0.003855 s, max step_time: 0.011603 s +[2026-09-17 23:00:59,336][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 32 times, mean step_time: 0.003823 s, max step_time: 0.010261 s +[2026-09-17 23:01:02,244][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.97 Hz +[2026-09-17 23:01:04,964][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.79 Hz +[2026-09-17 23:01:12,245][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.96 Hz +[2026-09-17 23:01:14,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.37 Hz +[2026-09-17 23:01:19,962][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.60 iterations per second over 30.00 seconds. +[2026-09-17 23:01:22,247][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.75 Hz +[2026-09-17 23:01:22,861][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.05 iterations per second over 30.00 seconds. +[2026-09-17 23:01:24,970][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.28 Hz +[2026-09-17 23:01:26,718][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003878 s, max step_time: 0.009130 s +[2026-09-17 23:01:29,336][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003885 s, max step_time: 0.008982 s +[2026-09-17 23:01:32,251][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.60 Hz +[2026-09-17 23:01:34,973][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.32 Hz +[2026-09-17 23:01:42,253][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.83 Hz +[2026-09-17 23:01:44,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.65 Hz +[2026-09-17 23:01:49,967][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.22 iterations per second over 30.01 seconds. +[2026-09-17 23:01:52,256][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 +[2026-09-17 23:01:52,863][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.35 iterations per second over 30.00 seconds. +[2026-09-17 23:01:54,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.39 Hz +[2026-09-17 23:01:56,718][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003882 s, max step_time: 0.007448 s +[2026-09-17 23:01:59,340][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003851 s, max step_time: 0.010962 s +[2026-09-17 23:02:02,257][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.27 Hz +[2026-09-17 23:02:04,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.69 Hz +[2026-09-17 23:02:12,260][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.11 Hz +[2026-09-17 23:02:14,977][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.27 Hz +[2026-09-17 23:02:19,967][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.46 iterations per second over 30.00 seconds. +[2026-09-17 23:02:22,261][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.97 Hz +[2026-09-17 23:02:22,864][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.89 iterations per second over 30.00 seconds. +[2026-09-17 23:02:24,980][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.53 Hz +[2026-09-17 23:02:26,721][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003852 s, max step_time: 0.007443 s +[2026-09-17 23:02:32,265][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.12 Hz +[2026-09-17 23:02:34,981][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.97 Hz +[2026-09-17 23:02:35,712][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003831 s, max step_time: 0.007232 s +[2026-09-17 23:02:42,265][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.69 Hz +[2026-09-17 23:02:44,984][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.52 Hz +[2026-09-17 23:02:49,969][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.48 iterations per second over 30.00 seconds. +[2026-09-17 23:02:52,269][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.21 Hz +[2026-09-17 23:02:52,866][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.85 iterations per second over 30.00 seconds. +[2026-09-17 23:02:54,986][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.24 Hz +[2026-09-17 23:02:56,724][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003891 s, max step_time: 0.007985 s +[2026-09-17 23:03:02,271][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.94 Hz +[2026-09-17 23:03:04,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.80 Hz +[2026-09-17 23:03:05,714][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003894 s, max step_time: 0.007706 s +[2026-09-17 23:03:12,274][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.32 Hz +[2026-09-17 23:03:14,991][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.62 Hz +[2026-09-17 23:03:19,971][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.65 iterations per second over 30.00 seconds. +[2026-09-17 23:03:22,276][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.37 Hz +[2026-09-17 23:03:22,869][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.51 iterations per second over 30.00 seconds. +[2026-09-17 23:03:24,991][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.57 Hz +[2026-09-17 23:03:26,726][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003886 s, max step_time: 0.007274 s +[2026-09-17 23:03:32,275][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.49 Hz +[2026-09-17 23:03:34,994][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.02 Hz +[2026-09-17 23:03:35,715][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003867 s, max step_time: 0.008719 s +[2026-09-17 23:03:42,276][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.29 Hz +[2026-09-17 23:03:44,997][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.41 Hz +[2026-09-17 23:03:49,973][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.82 iterations per second over 30.00 seconds. +[2026-09-17 23:03:52,277][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.37 Hz +[2026-09-17 23:03:52,873][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.70 iterations per second over 30.00 seconds. +[2026-09-17 23:03:55,000][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.83 Hz +[2026-09-17 23:03:56,727][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003931 s, max step_time: 0.007061 s +[2026-09-17 23:04:02,282][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.91 Hz +[2026-09-17 23:04:05,003][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.62 Hz +[2026-09-17 23:04:05,718][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003931 s, max step_time: 0.007634 s +[2026-09-17 23:04:12,282][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.69 Hz +[2026-09-17 23:04:15,005][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.96 Hz +[2026-09-17 23:04:19,976][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.98 iterations per second over 30.00 seconds. +[2026-09-17 23:04:22,282][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.58 Hz +[2026-09-17 23:04:22,873][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.17 iterations per second over 30.00 seconds. +[2026-09-17 23:04:25,007][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.55 Hz +[2026-09-17 23:04:26,730][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003891 s, max step_time: 0.010221 s +[2026-09-17 23:04:32,284][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.97 Hz +[2026-09-17 23:04:35,014][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.49 Hz +[2026-09-17 23:04:35,719][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003872 s, max step_time: 0.009811 s +[2026-09-17 23:04:42,284][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.88 Hz +[2026-09-17 23:04:45,011][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.79 Hz +[2026-09-17 23:04:49,976][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.90 iterations per second over 30.00 seconds. +[2026-09-17 23:04:52,287][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.12 Hz +[2026-09-17 23:04:52,873][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.53 iterations per second over 30.00 seconds. +[2026-09-17 23:04:55,014][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.85 Hz +[2026-09-17 23:04:56,731][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 54 times, mean step_time: 0.003886 s, max step_time: 0.013219 s +[2026-09-17 23:05:02,292][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.84 Hz +[2026-09-17 23:05:05,015][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.05 Hz +[2026-09-17 23:05:05,720][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003866 s, max step_time: 0.010193 s +[2026-09-17 23:05:12,291][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.78 Hz +[2026-09-17 23:05:15,017][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.25 Hz +[2026-09-17 23:05:19,980][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.67 iterations per second over 30.00 seconds. +[2026-09-17 23:05:22,292][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.06 Hz +[2026-09-17 23:05:22,874][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.73 iterations per second over 30.00 seconds. +[2026-09-17 23:05:25,019][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.46 Hz +[2026-09-17 23:05:26,732][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 59 times, mean step_time: 0.003866 s, max step_time: 0.010196 s +[2026-09-17 23:05:32,294][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.56 Hz +[2026-09-17 23:05:35,021][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.25 Hz +[2026-09-17 23:05:35,723][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003850 s, max step_time: 0.009749 s +[2026-09-17 23:05:42,297][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.72 Hz +[2026-09-17 23:05:45,021][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.79 Hz +[2026-09-17 23:05:49,981][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.26 iterations per second over 30.00 seconds. +[2026-09-17 23:05:52,300][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.94 Hz +[2026-09-17 23:05:52,876][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.15 iterations per second over 30.00 seconds. +[2026-09-17 23:05:55,025][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.80 Hz +[2026-09-17 23:05:56,733][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 54 times, mean step_time: 0.003865 s, max step_time: 0.009049 s +[2026-09-17 23:06:02,300][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.46 Hz +[2026-09-17 23:06:05,028][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.11 Hz +[2026-09-17 23:06:05,724][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 42 times, mean step_time: 0.003828 s, max step_time: 0.011424 s +[2026-09-17 23:06:12,302][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.88 Hz +[2026-09-17 23:06:15,030][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.07 Hz +[2026-09-17 23:06:19,984][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.57 iterations per second over 30.00 seconds. +[2026-09-17 23:06:22,302][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.57 Hz +[2026-09-17 23:06:22,879][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.64 iterations per second over 30.00 seconds. +[2026-09-17 23:06:25,031][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.49 Hz +[2026-09-17 23:06:26,736][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 34 times, mean step_time: 0.003875 s, max step_time: 0.009758 s +[2026-09-17 23:06:32,305][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.03 Hz +[2026-09-17 23:06:35,033][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.24 Hz +[2026-09-17 23:06:35,728][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003857 s, max step_time: 0.009714 s +[2026-09-17 23:06:42,305][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.29 Hz +[2026-09-17 23:06:45,034][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.69 Hz +[2026-09-17 23:06:49,985][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.13 iterations per second over 30.00 seconds. +[2026-09-17 23:06:52,308][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.11 Hz +[2026-09-17 23:06:52,881][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.95 iterations per second over 30.00 seconds. +[2026-09-17 23:06:55,033][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.40 Hz +[2026-09-17 23:07:02,312][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.11 Hz +[2026-09-17 23:07:05,033][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.67 Hz +[2026-09-17 23:07:12,316][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.30 Hz +[2026-09-17 23:07:15,035][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.85 Hz +[2026-09-17 23:07:16,211][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003847 s, max step_time: 0.007355 s +[2026-09-17 23:07:17,143][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003844 s, max step_time: 0.007140 s +[2026-09-17 23:07:19,988][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.34 iterations per second over 30.00 seconds. +[2026-09-17 23:07:22,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.23 Hz +[2026-09-17 23:07:22,885][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.60 iterations per second over 30.00 seconds. +[2026-09-17 23:07:25,038][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.46 Hz +[2026-09-17 23:07:32,319][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.19 Hz +[2026-09-17 23:07:35,038][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.58 Hz +[2026-09-17 23:07:42,321][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.86 Hz +[2026-09-17 23:07:45,039][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.59 Hz +[2026-09-17 23:07:46,212][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003865 s, max step_time: 0.007479 s +[2026-09-17 23:07:49,991][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.57 iterations per second over 30.00 seconds. +[2026-09-17 23:07:52,324][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.53 Hz +[2026-09-17 23:07:52,888][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.11 iterations per second over 30.00 seconds. +[2026-09-17 23:07:54,652][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003874 s, max step_time: 0.007009 s +[2026-09-17 23:07:55,040][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.86 Hz +[2026-09-17 23:08:02,326][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.44 Hz +[2026-09-17 23:08:05,041][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.99 Hz +[2026-09-17 23:08:12,326][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.90 Hz +[2026-09-17 23:08:15,043][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.73 Hz +[2026-09-17 23:08:16,213][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003918 s, max step_time: 0.007320 s +[2026-09-17 23:08:19,991][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.96 iterations per second over 30.00 seconds. +[2026-09-17 23:08:22,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.71 Hz +[2026-09-17 23:08:22,890][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.15 iterations per second over 30.00 seconds. +[2026-09-17 23:08:24,654][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003911 s, max step_time: 0.062798 s +[2026-09-17 23:08:25,046][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.04 Hz +[2026-09-17 23:08:32,332][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.97 Hz +[2026-09-17 23:08:35,047][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.44 Hz +[2026-09-17 23:08:42,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.14 Hz +[2026-09-17 23:08:45,049][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.24 Hz +[2026-09-17 23:08:46,217][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003909 s, max step_time: 0.007294 s +[2026-09-17 23:08:49,992][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.93 iterations per second over 30.00 seconds. +[2026-09-17 23:08:52,336][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.11 Hz +[2026-09-17 23:08:52,892][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.51 iterations per second over 30.00 seconds. +[2026-09-17 23:08:54,655][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 2 times, mean step_time: 0.003878 s, max step_time: 0.007824 s +[2026-09-17 23:08:55,050][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.69 Hz +[2026-09-17 23:09:02,337][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.87 Hz +[2026-09-17 23:09:05,050][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.99 Hz +[2026-09-17 23:09:12,340][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.75 Hz +[2026-09-17 23:09:15,051][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.48 Hz +[2026-09-17 23:09:16,217][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003855 s, max step_time: 0.008414 s +[2026-09-17 23:09:19,993][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.86 iterations per second over 30.00 seconds. +[2026-09-17 23:09:22,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.32 Hz +[2026-09-17 23:09:22,893][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.66 iterations per second over 30.00 seconds. +[2026-09-17 23:09:24,658][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003821 s, max step_time: 0.009894 s +[2026-09-17 23:09:25,051][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.59 Hz +[2026-09-17 23:09:32,346][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.31 Hz +[2026-09-17 23:09:35,056][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.62 Hz +[2026-09-17 23:09:42,347][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.46 Hz +[2026-09-17 23:09:45,056][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.27 Hz +[2026-09-17 23:09:46,219][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 44 times, mean step_time: 0.003859 s, max step_time: 0.010884 s +[2026-09-17 23:09:49,997][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.33 iterations per second over 30.00 seconds. +[2026-09-17 23:09:52,351][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.50 Hz +[2026-09-17 23:09:52,895][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.18 iterations per second over 30.00 seconds. +[2026-09-17 23:09:54,660][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 41 times, mean step_time: 0.003837 s, max step_time: 0.009672 s +[2026-09-17 23:09:55,059][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.62 Hz +[2026-09-17 23:10:02,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.33 Hz +[2026-09-17 23:10:05,060][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.18 Hz +[2026-09-17 23:10:12,358][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.42 Hz +[2026-09-17 23:10:15,060][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.48 Hz +[2026-09-17 23:10:16,222][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 47 times, mean step_time: 0.003858 s, max step_time: 0.009264 s +[2026-09-17 23:10:19,999][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.38 iterations per second over 30.00 seconds. +[2026-09-17 23:10:22,359][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.24 Hz +[2026-09-17 23:10:22,896][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.53 iterations per second over 30.00 seconds. +[2026-09-17 23:10:24,661][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 41 times, mean step_time: 0.003826 s, max step_time: 0.010255 s +[2026-09-17 23:10:25,063][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.94 Hz +[2026-09-17 23:10:32,359][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.79 Hz +[2026-09-17 23:10:35,066][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.13 Hz +[2026-09-17 23:10:42,361][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.27 Hz +[2026-09-17 23:10:45,069][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.23 Hz +[2026-09-17 23:10:46,226][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003849 s, max step_time: 0.009025 s +[2026-09-17 23:10:50,002][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.21 iterations per second over 30.00 seconds. +[2026-09-17 23:10:52,364][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.13 Hz +[2026-09-17 23:10:52,898][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.94 iterations per second over 30.00 seconds. +[2026-09-17 23:10:54,661][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 51 times, mean step_time: 0.003847 s, max step_time: 0.010195 s +[2026-09-17 23:10:55,071][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 +[2026-09-17 23:11:02,366][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.43 Hz +[2026-09-17 23:11:05,072][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.86 Hz +[2026-09-17 23:11:12,367][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.40 Hz +[2026-09-17 23:11:15,075][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.14 Hz +[2026-09-17 23:11:16,229][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 46 times, mean step_time: 0.003908 s, max step_time: 0.011625 s +[2026-09-17 23:11:20,004][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.05 iterations per second over 30.00 seconds. +[2026-09-17 23:11:22,368][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.16 Hz +[2026-09-17 23:11:22,902][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.50 iterations per second over 30.00 seconds. +[2026-09-17 23:11:24,663][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 43 times, mean step_time: 0.003894 s, max step_time: 0.011118 s +[2026-09-17 23:11:25,077][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.83 Hz +[2026-09-17 23:11:32,371][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.13 Hz +[2026-09-17 23:11:35,079][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.35 Hz +[2026-09-17 23:11:42,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.34 Hz +[2026-09-17 23:11:45,081][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.79 Hz +[2026-09-17 23:11:46,231][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003920 s, max step_time: 0.009704 s +[2026-09-17 23:11:50,008][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.54 iterations per second over 30.00 seconds. +[2026-09-17 23:11:52,377][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.30 Hz +[2026-09-17 23:11:52,902][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.53 iterations per second over 30.00 seconds. +[2026-09-17 23:11:54,664][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003927 s, max step_time: 0.008597 s +[2026-09-17 23:11:55,083][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.05 Hz +[2026-09-17 23:12:02,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.52 Hz +[2026-09-17 23:12:05,083][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.37 Hz +[2026-09-17 23:12:12,383][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.36 Hz +[2026-09-17 23:12:15,088][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.69 Hz +[2026-09-17 23:12:16,234][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004048 s, max step_time: 0.009881 s +[2026-09-17 23:12:18,974][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:12:18,974][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:12:20,011][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.17 iterations per second over 30.00 seconds. +[2026-09-17 23:12:22,385][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.74 Hz +[2026-09-17 23:12:22,904][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.55 iterations per second over 30.00 seconds. +[2026-09-17 23:12:24,666][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.004031 s, max step_time: 0.026171 s +[2026-09-17 23:12:25,087][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.69 Hz +[2026-09-17 23:12:32,386][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.47 Hz +[2026-09-17 23:12:35,089][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.79 Hz +[2026-09-17 23:12:42,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.81 Hz +[2026-09-17 23:12:45,092][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.71 Hz +[2026-09-17 23:12:46,235][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003936 s, max step_time: 0.027310 s +[2026-09-17 23:12:50,015][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.90 iterations per second over 30.00 seconds. +[2026-09-17 23:12:52,390][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.80 Hz +[2026-09-17 23:12:52,907][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.28 iterations per second over 30.00 seconds. +[2026-09-17 23:12:54,668][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003961 s, max step_time: 0.009959 s +[2026-09-17 23:12:55,091][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.38 Hz +[2026-09-17 23:13:01,750][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:13:01,751][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:13:02,393][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 241.33 Hz +[2026-09-17 23:13:05,095][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.54 Hz +[2026-09-17 23:13:12,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.09 Hz +[2026-09-17 23:13:15,098][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.53 Hz +[2026-09-17 23:13:16,236][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.004035 s, max step_time: 0.035431 s +[2026-09-17 23:13:20,017][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.41 iterations per second over 30.00 seconds. +[2026-09-17 23:13:22,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.79 Hz +[2026-09-17 23:13:22,908][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.32 iterations per second over 30.00 seconds. +[2026-09-17 23:13:24,672][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003973 s, max step_time: 0.036450 s +[2026-09-17 23:13:25,104][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.39 Hz +[2026-09-17 23:13:32,396][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.83 Hz +[2026-09-17 23:13:35,103][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.26 Hz +[2026-09-17 23:13:42,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.78 Hz +[2026-09-17 23:13:45,104][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.49 Hz +[2026-09-17 23:13:46,239][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003904 s, max step_time: 0.007638 s +[2026-09-17 23:13:50,018][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.43 iterations per second over 30.00 seconds. +[2026-09-17 23:13:52,399][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.76 Hz +[2026-09-17 23:13:52,911][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.84 iterations per second over 30.00 seconds. +[2026-09-17 23:13:54,675][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.003946 s, max step_time: 0.008492 s +[2026-09-17 23:13:55,107][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.33 Hz +[2026-09-17 23:13:57,528][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:13:57,528][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:14:02,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.58 Hz +[2026-09-17 23:14:05,110][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.32 Hz +[2026-09-17 23:14:12,402][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.85 Hz +[2026-09-17 23:14:15,115][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.10 Hz +[2026-09-17 23:14:16,240][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.003992 s, max step_time: 0.016589 s +[2026-09-17 23:14:20,021][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.84 iterations per second over 30.00 seconds. +[2026-09-17 23:14:22,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.27 Hz +[2026-09-17 23:14:22,912][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.36 iterations per second over 30.00 seconds. +[2026-09-17 23:14:24,676][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003958 s, max step_time: 0.016274 s +[2026-09-17 23:14:25,116][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.28 Hz +[2026-09-17 23:14:32,406][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 +[2026-09-17 23:14:33,954][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:14:33,959][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:14:35,116][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.89 Hz +[2026-09-17 23:14:42,408][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.25 Hz +[2026-09-17 23:14:45,121][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.88 Hz +[2026-09-17 23:14:46,243][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003991 s, max step_time: 0.023439 s +[2026-09-17 23:14:50,022][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.42 iterations per second over 30.00 seconds. +[2026-09-17 23:14:52,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.36 Hz +[2026-09-17 23:14:52,914][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.48 iterations per second over 30.00 seconds. +[2026-09-17 23:14:54,678][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003907 s, max step_time: 0.021570 s +[2026-09-17 23:14:55,122][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.05 Hz +[2026-09-17 23:15:02,410][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.20 Hz +[2026-09-17 23:15:05,125][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.22 Hz +[2026-09-17 23:15:12,415][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.34 Hz +[2026-09-17 23:15:15,126][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.69 Hz +[2026-09-17 23:15:16,246][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.003855 s, max step_time: 0.009279 s +[2026-09-17 23:15:20,026][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.97 iterations per second over 30.00 seconds. +[2026-09-17 23:15:22,413][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.77 Hz +[2026-09-17 23:15:22,917][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.84 iterations per second over 30.00 seconds. +[2026-09-17 23:15:24,679][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003850 s, max step_time: 0.011750 s +[2026-09-17 23:15:25,127][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.96 Hz +[2026-09-17 23:15:32,415][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.04 Hz +[2026-09-17 23:15:35,127][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.89 Hz +[2026-09-17 23:15:42,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.32 Hz +[2026-09-17 23:15:45,129][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.44 Hz +[2026-09-17 23:15:46,247][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 40 times, mean step_time: 0.003866 s, max step_time: 0.011391 s +[2026-09-17 23:15:47,513][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.46 iterations per second over 24.60 seconds. +[2026-09-17 23:15:47,519][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.62 iterations per second over 27.49 seconds. +[2026-09-17 23:18:11,010][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-17 23:18:11,011][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-17 23:18:11,011][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-17 23:18:11,011][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-17 23:18:11,011][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-17 23:18:11,011][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-17 23:18:11,011][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-17 23:18:11,011][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-17 23:18:11,011][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-17 23:18:11,012][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-17 23:18:11,012][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-17 23:18:11,012][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-17 23:18:11,012][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-17 23:18:11,012][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-17 23:18:11,012][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-17 23:18:11,012][i2rt.robots.utils][INFO] - limiter_params: {'clog_force_threshold': 0.5, 'clog_speed_threshold': 0.3, 'sign': 1.0, 'force_torque_map': 'linear', 'motor_stroke': 6.57, 'gripper_stroke': 0.096} +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:18:11,013][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:18:11,013][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:18:11,013][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-17 23:18:11,013][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:18:11,014][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:18:11,025][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:18:11,037][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-17 23:18:11,048][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:18:11,059][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:18:11,070][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:11,081][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:18:11,092][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:18:11,103][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:11,114][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:18:11,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:18:11,137][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:11,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:18:11,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:18:11,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:11,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:18:11,193][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:18:11,204][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:11,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:18:11,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:18:11,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:11,248][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:18:11,248][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-17 23:18:11,248][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_l: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:18:11,249][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:18:11,304][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:18:11,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:18:11,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:18:11,470][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:18:11,525][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:18:11,580][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:18:11,635][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:18:11,635][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_l in 0.39 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 23:18:11,636][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:18:11,636][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:18:11,647][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:18:11,652][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:18:11,659][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:18:11,666][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:18:11,673][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:18:11,680][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:18:11,686][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:18:11,693][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, 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=0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-17 23:18:11,693][root][INFO] - current_pos: [0.028801403830014394, -0.0001907377737087046, 0.0017166399633783413, 0.0013351644159609322, -0.010490577553978753, -0.018883039597161755, 0.011253528648813571] +[2026-09-17 23:18:11,693][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:18:11,693][root][INFO] - starting separate thread for control loop +[2026-09-17 23:18:11,794][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=0.028801403830014394, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789658291.7942982), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789658291.7942982), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789658291.7942982), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789658291.7942982), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.012210012210012167, pos=-0.01010910200655779, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789658291.7942982), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.018501564049740793, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789658291.7942982), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.011253528648813571, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789658291.7942982)] +[2026-09-17 23:18:11,794][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:18:11,794][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0113 +[2026-09-17 23:18:11,794][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:18:12,424][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-17 23:18:12,724][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:18:13,354][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-17 23:18:13,654][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.269512474250401, -0.007057297627218517) +[2026-09-17 23:18:13,654][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26951247 -0.0070573 ] +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-17 23:18:13,898][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-17 23:18:13,899][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-17 23:18:13,899][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-17 23:18:13,899][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:18:13,899][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:18:13,899][root][INFO] - initializing, .... +[2026-09-17 23:18:13,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-17 23:18:13,921][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:13,932][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:18:13,943][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-17 23:18:13,954][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:13,965][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:18:13,976][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-17 23:18:13,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:13,997][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-17 23:18:14,008][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-17 23:18:14,019][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:14,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:18:14,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-17 23:18:14,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:14,062][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:18:14,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-17 23:18:14,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:14,094][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:18:14,104][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-17 23:18:14,115][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-17 23:18:14,126][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-17 23:18:14,126][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-17 23:18:14,126][i2rt.motor_drivers.motor_check][INFO] - checking control mode (MIT, CTRL_MODE 1) and scaling on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-17 23:18:14,126][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:18:14,180][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:18:14,234][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:18:14,288][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver=925970741 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=10 TMAX=28 +[2026-09-17 23:18:14,342][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:18:14,395][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:18:14,449][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:18:14,502][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-17 23:18:14,502][i2rt.motor_drivers.motor_check][INFO] - motor configuration check passed on can_follower_r in 0.38 s (0 motor(s) repaired and saved to Flash) +[2026-09-17 23:18:14,503][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-17 23:18:14,503][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-17 23:18:14,513][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-17 23:18:14,519][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-17 23:18:14,525][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-17 23:18:14,532][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-17 23:18:14,538][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-17 23:18:14,546][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-17 23:18:14,552][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-17 23:18:14,559][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=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-17 23:18:14,559][root][INFO] - current_pos: [0.0165941863126573, -0.0020981155107957505, 0.000953688868543523, 0.000953688868543523, -0.000953688868543523, -0.02574959945067512, 0.3995956359197379] +[2026-09-17 23:18:14,559][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-17 23:18:14,559][root][INFO] - starting separate thread for control loop +[2026-09-17 23:18:14,660][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.006837606837606813, pos=0.0165941863126573, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789658294.6602154), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.03418803418803407, pos=-0.0020981155107957505, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789658294.6602154), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789658294.6602154), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789658294.6602154), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789658294.6602154), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.02574959945067512, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789658294.6602154), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.3992141603723205, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789658294.6602154)] +[2026-09-17 23:18:14,660][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-17 23:18:14,660][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.3992 +[2026-09-17 23:18:14,660][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-17 23:18:15,335][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-17 23:18:15,684][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-17 23:18:16,310][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-17 23:18:16,611][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.25349050125887, -0.010872053101396162) +[2026-09-17 23:18:16,611][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2534905 -0.01087205] +[2026-09-17 23:18:16,742][root][INFO] - initializing, .... +[2026-09-17 23:18:23,904][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.12 Hz +[2026-09-17 23:18:26,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.30 Hz +[2026-09-17 23:18:33,906][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.95 Hz +[2026-09-17 23:18:36,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.47 Hz +[2026-09-17 23:18:39,225][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:18:39,225][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:18:41,696][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.25 iterations per second over 30.00 seconds. +[2026-09-17 23:18:41,746][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.003970 s, max step_time: 0.066397 s +[2026-09-17 23:18:43,907][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.15 Hz +[2026-09-17 23:18:44,562][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.68 iterations per second over 30.00 seconds. +[2026-09-17 23:18:44,562][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 28 times, mean step_time: 0.004021 s, max step_time: 0.071459 s +[2026-09-17 23:18:46,755][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.01 Hz +[2026-09-17 23:18:53,910][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.85 Hz +[2026-09-17 23:18:56,758][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.52 Hz +[2026-09-17 23:19:03,915][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.37 Hz +[2026-09-17 23:19:06,761][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.94 Hz +[2026-09-17 23:19:06,817][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:19:06,819][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:19:11,696][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.50 iterations per second over 30.00 seconds. +[2026-09-17 23:19:11,747][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.004001 s, max step_time: 0.017019 s +[2026-09-17 23:19:13,920][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.40 Hz +[2026-09-17 23:19:14,562][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.37 iterations per second over 30.00 seconds. +[2026-09-17 23:19:14,562][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003994 s, max step_time: 0.016727 s +[2026-09-17 23:19:16,763][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.64 Hz +[2026-09-17 23:19:23,921][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.37 Hz +[2026-09-17 23:19:26,767][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.40 Hz +[2026-09-17 23:19:33,921][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.07 Hz +[2026-09-17 23:19:35,712][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:19:35,712][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:19:36,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.44 Hz +[2026-09-17 23:19:41,696][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.43 iterations per second over 30.00 seconds. +[2026-09-17 23:19:41,749][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003993 s, max step_time: 0.030735 s +[2026-09-17 23:19:43,924][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.02 Hz +[2026-09-17 23:19:44,562][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.70 iterations per second over 30.00 seconds. +[2026-09-17 23:19:44,562][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004021 s, max step_time: 0.024482 s +[2026-09-17 23:19:46,772][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.95 Hz +[2026-09-17 23:19:53,927][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.83 Hz +[2026-09-17 23:19:56,776][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.11 Hz +[2026-09-17 23:20:03,928][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.79 Hz +[2026-09-17 23:20:06,779][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.34 Hz +[2026-09-17 23:20:11,699][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 246.98 iterations per second over 30.00 seconds. +[2026-09-17 23:20:11,749][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004050 s, max step_time: 0.008453 s +[2026-09-17 23:20:11,889][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:20:11,889][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:20:13,931][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.62 Hz +[2026-09-17 23:20:14,565][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.61 iterations per second over 30.00 seconds. +[2026-09-17 23:20:14,565][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004039 s, max step_time: 0.022537 s +[2026-09-17 23:20:16,782][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.10 Hz +[2026-09-17 23:20:23,933][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.74 Hz +[2026-09-17 23:20:26,781][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.68 Hz +[2026-09-17 23:20:33,935][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.14 Hz +[2026-09-17 23:20:36,785][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.52 Hz +[2026-09-17 23:20:41,701][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.88 iterations per second over 30.00 seconds. +[2026-09-17 23:20:41,750][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003863 s, max step_time: 0.022541 s +[2026-09-17 23:20:43,941][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.78 Hz +[2026-09-17 23:20:44,568][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.08 iterations per second over 30.00 seconds. +[2026-09-17 23:20:44,568][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003905 s, max step_time: 0.008236 s +[2026-09-17 23:20:46,790][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.71 Hz +[2026-09-17 23:20:53,942][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.14 Hz +[2026-09-17 23:20:55,024][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:20:55,024][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:20:56,791][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.55 Hz +[2026-09-17 23:21:03,942][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.30 Hz +[2026-09-17 23:21:06,792][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.56 Hz +[2026-09-17 23:21:11,705][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.50 iterations per second over 30.00 seconds. +[2026-09-17 23:21:11,752][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003960 s, max step_time: 0.016438 s +[2026-09-17 23:21:13,946][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.11 Hz +[2026-09-17 23:21:14,568][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.30 iterations per second over 30.00 seconds. +[2026-09-17 23:21:14,568][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003964 s, max step_time: 0.024312 s +[2026-09-17 23:21:16,796][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.32 Hz +[2026-09-17 23:21:23,947][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.58 Hz +[2026-09-17 23:21:26,796][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.48 Hz +[2026-09-17 23:21:33,948][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.57 Hz +[2026-09-17 23:21:34,281][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:21:34,281][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-17 23:21:36,798][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.07 Hz +[2026-09-17 23:21:41,705][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.23 iterations per second over 30.00 seconds. +[2026-09-17 23:21:41,753][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003980 s, max step_time: 0.026479 s +[2026-09-17 23:21:43,950][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.73 Hz +[2026-09-17 23:21:44,569][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.52 iterations per second over 30.00 seconds. +[2026-09-17 23:21:44,569][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003992 s, max step_time: 0.026494 s +[2026-09-17 23:21:46,798][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.80 Hz +[2026-09-17 23:21:53,952][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.45 Hz +[2026-09-17 23:21:56,800][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.72 Hz +[2026-09-17 23:22:03,953][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.57 Hz +[2026-09-17 23:22:06,804][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.72 Hz +[2026-09-17 23:22:11,709][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.87 iterations per second over 30.00 seconds. +[2026-09-17 23:22:11,756][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 72 times, mean step_time: 0.003893 s, max step_time: 0.012642 s +[2026-09-17 23:22:13,954][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.10 Hz +[2026-09-17 23:22:14,570][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.69 iterations per second over 30.00 seconds. +[2026-09-17 23:22:14,570][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 71 times, mean step_time: 0.003896 s, max step_time: 0.012517 s +[2026-09-17 23:22:16,804][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.99 Hz +[2026-09-17 23:22:23,955][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.38 Hz +[2026-09-17 23:22:26,806][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.35 Hz +[2026-09-17 23:22:33,957][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.63 Hz +[2026-09-17 23:22:36,808][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.15 Hz +[2026-09-17 23:22:41,711][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.42 iterations per second over 30.00 seconds. +[2026-09-17 23:22:41,758][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 61 times, mean step_time: 0.003900 s, max step_time: 0.012961 s +[2026-09-17 23:22:43,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.49 Hz +[2026-09-17 23:22:44,571][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.36 iterations per second over 30.00 seconds. +[2026-09-17 23:22:44,571][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 68 times, mean step_time: 0.003901 s, max step_time: 0.010904 s +[2026-09-17 23:22:46,812][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.72 Hz +[2026-09-17 23:22:53,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.78 Hz +[2026-09-17 23:22:56,815][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.31 Hz +[2026-09-17 23:23:00,870][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.53 iterations per second over 16.30 seconds. +[2026-09-17 23:23:00,876][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.96 iterations per second over 19.16 seconds. diff --git a/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/runtime/output.lock b/eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0002/workflow_manifest.json b/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0002/workflow_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..da2cecdd14d64c39bf6b2f06dd41c5142845bb73 --- /dev/null +++ b/eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0002/workflow_manifest.json @@ -0,0 +1,613 @@ +{ + "acceleration_limits": [ + 118.7426430016755, + 165.012131490699, + 134.04180689399348, + 274.86399842805685, + 195.25766555964873, + 454.5340796113012, + 109.40927818565227, + 178.49339036295515, + 476.6444930964641, + 557.9080874526715, + 587.1810202100611, + 362.1711802492357, + 208.8803265352197, + 208.9010343469399 + ], + "actions_sent": 596, + "async_execution": { + "blend_steps": 5, + "chunk_counter_meaning": "completed groups of 30 acknowledged targets", + "expired_prefix_actions": 157, + "mode": "async_overlap", + "plans_adopted": 36, + "prediction_horizon": 30, + "predictions_requested": 36, + "prefetch_steps": 12, + "queue_underruns": 0, + "target_budget": 1200 + }, + "chunks": 19, + "command_velocity_limits": [ + 7.326937734087213, + 7.492612143357643, + 9.039960411055707, + 10.989442599937178, + 11.822247140410347, + 21.729793477053846, + 4.549583926449072, + 9.542591565847905, + 16.49783855493206, + 19.18122166486826, + 20.271305218109156, + 13.274309575261345, + 14.009155302643812, + 4.764187300355128 + ], + "config": { + "async_inference": { + "blend_steps": 5, + "enabled": true, + "prefetch_steps": 12 + }, + "data": { + "bridge": { + "enabled": true, + "name": "openpi_observe_20260917_221835_795353", + "qos_depth": 10, + "sensor_qos": "reliable", + "stamp_source": "header", + "wait_all_streams": true + }, + "history": 64, + "mode": "owned", + "name": "openpi_data", + "numpy": { + "enabled": true + }, + "recording": { + "camera_encoder": "libx264", + "default_event_value": null, + "enable_plots": false, + "enabled": true, + "fps": 30.0, + "output_dir": "outputs/openpi_rollout/seven_tasks_2500/flip_bread/data", + "queue_size": 4096 + }, + "streams": { + "base_0_color": { + "domain": "sensor", + "msg_type": "sensor_msgs.msg.Image", + "ros_domain_id": 22, + "topic": "/prometheus/sensors/cameras/base_0/color/image_raw" + }, + 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