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100644 index 0000000000000000000000000000000000000000..b5056da39cfab74f74480adafac25e3f68d0ea18 --- /dev/null +++ b/eval/YAM/V2/dp/banana_handoff/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,244 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_handoff + steps: 50 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 32 + prediction_horizon: 32 +policy: + host: 127.0.0.1 + port: 9016 + prompt: banana_handoff + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 5.0 + task: banana_handoff + expected_checkpoint_path: /home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt + history_tolerance_s: 0.015 + model: dp +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${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: + - 178.113964503 + - 247.518197236 + - 201.062710341 + - 412.295997642 + - 292.886498339 + - 681.801119417 + - 164.113917278 + - 267.740085544 + - 714.966739645 + - 836.862131179 + - 880.771530315 + - 543.256770374 + - 313.320489803 + - 313.35155152 + 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: false + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 1.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 + sync_wait_after_ack: true +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: YAM V2 dp banana_handoff - sync + 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/dp/banana_handoff/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/dp/banana_handoff/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c8fb16e4dd2bc5cbf0a27d08166b185c60093b22 --- /dev/null +++ b/eval/YAM/V2/dp/banana_handoff/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.model=dp + - policy.task=banana_handoff + - policy.prompt=banana_handoff + - policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt + - run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_handoff + - async_inference.enabled=false + - preview.window=YAM V2 dp banana_handoff - sync + - run.steps=50 + job: + name: rollout + chdir: false + override_dirname: async_inference.enabled=false,execute=true,policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt,policy.model=dp,policy.prompt=banana_handoff,policy.task=banana_handoff,preview.window=YAM + V2 dp banana_handoff - sync,run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_handoff,run.steps=50 + id: ??? + num: ??? + config_name: yam_v2 + 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/yam_v2/dp/best-short/banana_handoff/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/dp/banana_handoff/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/dp/banana_handoff/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..89c27c508921ae1ead4be64c1d21c3c4ae74b66c --- /dev/null +++ b/eval/YAM/V2/dp/banana_handoff/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,9 @@ +- execute=true +- policy.model=dp +- policy.task=banana_handoff +- policy.prompt=banana_handoff +- policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt +- run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_handoff +- async_inference.enabled=false +- preview.window=YAM V2 dp banana_handoff - sync +- run.steps=50 diff --git a/eval/YAM/V2/dp/banana_handoff/metadata/hydra/rollout.log b/eval/YAM/V2/dp/banana_handoff/metadata/hydra/rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..feee4aa24b5167cc254dca869d6034e6df040aee --- /dev/null +++ b/eval/YAM/V2/dp/banana_handoff/metadata/hydra/rollout.log @@ -0,0 +1,2232 @@ +[2026-09-16 21:15:36,685][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:15:36,686][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:15:36,687][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:15:36,687][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:15:36,687][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:15:36,687][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:15:36,687][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:15:36,687][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:15:36,687][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:15:36,688][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:15:36,688][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:15:36,688][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:15:36,688][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:15:36,688][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:15:36,688][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:15:36,688][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} +[2026-09-16 21:15:36,689][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 +[2026-09-16 21:15:36,689][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 +[2026-09-16 21:15:36,689][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:15:36,689][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:15:36,689][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:15:36,689][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:15:36,689][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:15:36,689][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:15:36,689][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:15:36,689][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:15:36,689][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:15:36,689][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:15:36,689][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:15:36,689][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 +[2026-09-16 21:15:36,690][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:15:36,702][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:15:36,713][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:15:36,724][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:15:36,734][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:15:36,745][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:36,756][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:15:36,767][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:15:36,778][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:36,789][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:15:36,800][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:15:36,810][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:36,821][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:15:36,832][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:15:36,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:36,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:15:36,865][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:15:36,876][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:36,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:15:36,898][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:15:36,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:36,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:15:36,920][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:15:36,920][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 +[2026-09-16 21:15:36,920][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:15:36,974][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 +[2026-09-16 21:15:37,028][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 +[2026-09-16 21:15:37,082][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 +[2026-09-16 21:15:37,136][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 +[2026-09-16 21:15:37,191][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 +[2026-09-16 21:15:37,245][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 +[2026-09-16 21:15:37,299][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 +[2026-09-16 21:15:37,299][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) +[2026-09-16 21:15:37,299][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:15:37,299][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:15:37,310][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:15:37,315][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:15:37,322][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:15:37,328][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:15:37,334][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:15:37,340][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:15:37,346][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:15:37,352][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, 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)] +[2026-09-16 21:15:37,352][root][INFO] - current_pos: [0.023079270618753256, -0.0013351644159609322, 0.0017166399633783413, -0.0001907377737087046, -0.0005722133211261138, 0.08335240711070391, -0.002861066605630569] +[2026-09-16 21:15:37,352][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:15:37,352][root][INFO] - starting separate thread for control loop +[2026-09-16 21:15:37,453][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=0.023079270618753256, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564537.4531832), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0009536888685399703, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789564537.4531832), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789564537.4531832), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=31.0, timestamp=1789564537.4531832), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0005722133211261138, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789564537.4531832), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.08335240711070391, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564537.4531832), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.002861066605630569, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564537.4531832)] +[2026-09-16 21:15:37,453][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:15:37,453][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-16 21:15:37,453][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:15:38,084][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 21:15:38,385][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:15:39,014][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:15:39,314][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-16 21:15:39,314][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-16 21:15:39,555][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 +[2026-09-16 21:15:39,555][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 +[2026-09-16 21:15:39,555][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:15:39,555][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:15:39,555][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:15:39,555][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:15:39,555][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:15:39,555][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:15:39,555][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:15:39,555][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:15:39,555][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:15:39,555][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:15:39,556][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:15:39,556][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 +[2026-09-16 21:15:39,556][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:15:39,558][root][INFO] - initializing, .... +[2026-09-16 21:15:39,567][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:15:39,578][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:39,588][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:15:39,599][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:15:39,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:39,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:15:39,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:15:39,642][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:39,653][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:15:39,664][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:15:39,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:39,685][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:15:39,696][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:15:39,707][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:39,718][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:15:39,729][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:15:39,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:39,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:15:39,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:15:39,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:15:39,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:15:39,783][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:15:39,783][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 +[2026-09-16 21:15:39,784][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:15:39,837][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 +[2026-09-16 21:15:39,891][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 +[2026-09-16 21:15:39,944][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 +[2026-09-16 21:15:39,998][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 +[2026-09-16 21:15:40,051][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 +[2026-09-16 21:15:40,105][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 +[2026-09-16 21:15:40,158][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 +[2026-09-16 21:15:40,159][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) +[2026-09-16 21:15:40,159][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:15:40,159][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:15:40,169][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:15:40,174][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:15:40,181][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:15:40,187][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:15:40,193][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:15:40,200][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:15:40,206][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:15:40,211][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=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 21:15:40,212][root][INFO] - current_pos: [-0.0001907377737087046, -0.0013351644159609322, 0.0005722133211261138, 0.006675822079804661, -0.09212634470130432, 0.06694895857175531, -0.000953688868543523] +[2026-09-16 21:15:40,212][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:15:40,212][root][INFO] - starting separate thread for control loop +[2026-09-16 21:15:40,312][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564540.3127587), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789564540.3127587), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=29.0, timestamp=1789564540.3127587), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.006675822079804661, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789564540.3127587), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.09212634470130432, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789564540.3127587), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.06694895857175531, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564540.3127587), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564540.3127587)] +[2026-09-16 21:15:40,313][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:15:40,313][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-16 21:15:40,313][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:15:40,937][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 21:15:41,238][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:15:41,872][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:15:42,173][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2603570611123835, -0.011253528648817124) +[2026-09-16 21:15:42,173][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26035706 -0.01125353] +[2026-09-16 21:15:42,302][root][INFO] - initializing, .... +[2026-09-16 21:15:49,564][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.86 Hz +[2026-09-16 21:15:52,309][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.44 Hz +[2026-09-16 21:15:59,565][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.93 Hz +[2026-09-16 21:15:59,647][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] +[2026-09-16 21:15:59,647][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] +[2026-09-16 21:16:02,310][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.94 Hz +[2026-09-16 21:16:07,356][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.07 iterations per second over 30.00 seconds. +[2026-09-16 21:16:07,356][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003845 s, max step_time: 0.071377 s +[2026-09-16 21:16:09,566][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.39 Hz +[2026-09-16 21:16:10,213][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.29 iterations per second over 30.00 seconds. +[2026-09-16 21:16:10,213][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003886 s, max step_time: 0.068373 s +[2026-09-16 21:16:12,310][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.68 Hz +[2026-09-16 21:16:19,568][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 +[2026-09-16 21:16:22,313][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.15 Hz +[2026-09-16 21:16:29,571][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.52 Hz +[2026-09-16 21:16:32,316][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.61 Hz +[2026-09-16 21:16:37,360][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.47 iterations per second over 30.00 seconds. +[2026-09-16 21:16:39,572][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.57 Hz +[2026-09-16 21:16:40,215][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.42 iterations per second over 30.00 seconds. +[2026-09-16 21:16:42,320][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.10 Hz +[2026-09-16 21:16:43,285][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003833 s, max step_time: 0.007234 s +[2026-09-16 21:16:48,588][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.53 iterations per second over 8.37 seconds. +[2026-09-16 21:16:48,594][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.03 iterations per second over 11.23 seconds. +[2026-09-16 21:16:58,868][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:16:58,869][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:16:58,869][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:16:58,869][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:16:58,869][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:16:58,869][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:16:58,869][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:16:58,869][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:16:58,869][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:16:58,870][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:16:58,870][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:16:58,870][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:16:58,871][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:16:58,871][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:16:58,871][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:16:58,871][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} +[2026-09-16 21:16:58,871][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 +[2026-09-16 21:16:58,871][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 +[2026-09-16 21:16:58,871][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:16:58,871][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:16:58,871][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:16:58,871][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:16:58,871][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:16:58,871][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:16:58,871][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:16:58,871][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:16:58,871][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:16:58,871][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:16:58,871][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:16:58,871][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 +[2026-09-16 21:16:58,872][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:16:58,884][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:16:58,895][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:16:58,906][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:16:58,917][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:16:58,928][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:16:58,939][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:16:58,950][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:16:58,962][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:16:58,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:16:58,984][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:16:58,996][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:16:59,007][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:16:59,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:16:59,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:16:59,040][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:16:59,051][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:16:59,061][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:16:59,072][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:16:59,083][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:16:59,094][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:16:59,105][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:16:59,105][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:16:59,105][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 +[2026-09-16 21:16:59,105][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:16:59,159][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 +[2026-09-16 21:16:59,212][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 +[2026-09-16 21:16:59,266][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 +[2026-09-16 21:16:59,320][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 +[2026-09-16 21:16:59,374][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 +[2026-09-16 21:16:59,428][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 +[2026-09-16 21:16:59,483][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver=925970485 CTRL_MODE=1 (MIT) PMAX=12.5 VMAX=30 TMAX=10 +[2026-09-16 21:16:59,487][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) +[2026-09-16 21:16:59,487][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:16:59,487][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:16:59,498][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:16:59,503][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:16:59,510][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:16:59,516][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:16:59,522][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:16:59,528][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:16:59,534][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:16:59,540][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, 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)] +[2026-09-16 21:16:59,541][root][INFO] - current_pos: [0.01201647974364839, -0.0013351644159609322, 0.0017166399633783413, -0.0001907377737087046, 0.004768444342717615, 0.04901960784313708, 0.022316319523918438] +[2026-09-16 21:16:59,541][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:16:59,541][root][INFO] - starting separate thread for control loop +[2026-09-16 21:16:59,641][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.03418803418803407, pos=0.01163500419623098, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564619.641549), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=26.0, temp_rotor=25.0, timestamp=1789564619.641549), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=31.0, timestamp=1789564619.641549), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.0001907377737087046, voltage=-1, temp_mos=29.0, temp_rotor=33.0, timestamp=1789564619.641549), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.004386968795300206, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789564619.641549), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.04901960784313708, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564619.641549), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.022316319523918438, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564619.641549)] +[2026-09-16 21:16:59,641][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:16:59,641][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0223 +[2026-09-16 21:16:59,641][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:17:00,263][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 21:17:00,563][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:17:01,186][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:17:01,486][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.271038376440071, -0.007057297627218517) +[2026-09-16 21:17:01,486][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27103838 -0.0070573 ] +[2026-09-16 21:17:01,720][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 +[2026-09-16 21:17:01,720][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 +[2026-09-16 21:17:01,720][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:17:01,720][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:17:01,720][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:17:01,720][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:17:01,720][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:17:01,720][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:17:01,720][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:17:01,720][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:17:01,720][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:17:01,720][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:17:01,720][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:17:01,720][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 +[2026-09-16 21:17:01,720][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:17:01,722][root][INFO] - initializing, .... +[2026-09-16 21:17:01,731][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:17:01,742][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:17:01,753][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:17:01,763][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:17:01,774][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:17:01,785][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:17:01,796][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:17:01,806][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:17:01,817][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:17:01,828][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:17:01,839][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:17:01,850][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:17:01,861][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:17:01,871][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:17:01,882][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:17:01,893][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:17:01,904][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:17:01,914][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:17:01,925][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:17:01,936][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:17:01,947][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:17:01,947][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:17:01,947][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 +[2026-09-16 21:17:01,947][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:17:02,001][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 +[2026-09-16 21:17:02,055][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 +[2026-09-16 21:17:02,109][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 +[2026-09-16 21:17:02,162][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 +[2026-09-16 21:17:02,216][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 +[2026-09-16 21:17:02,269][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 +[2026-09-16 21:17:02,323][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 +[2026-09-16 21:17:02,323][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) +[2026-09-16 21:17:02,324][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:17:02,324][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:17:02,334][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:17:02,340][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:17:02,346][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:17:02,352][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:17:02,358][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:17:02,364][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:17:02,370][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:17:02,376][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=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 21:17:02,376][root][INFO] - current_pos: [0.028801403830014394, -0.0013351644159609322, 0.000953688868543523, 0.0013351644159609322, -0.042915999084458534, -0.029564354924849212, -0.0040054932478827965] +[2026-09-16 21:17:02,376][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:17:02,376][root][INFO] - starting separate thread for control loop +[2026-09-16 21:17:02,476][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.02051282051282044, pos=0.028801403830014394, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564622.4767694), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=27.0, timestamp=1789564622.4767694), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=28.0, temp_rotor=29.0, timestamp=1789564622.4767694), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=31.0, timestamp=1789564622.4767694), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.042915999084458534, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789564622.4767694), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.029564354924849212, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564622.4767694), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0040054932478827965, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564622.4767694)] +[2026-09-16 21:17:02,476][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:17:02,477][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0040 +[2026-09-16 21:17:02,477][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:17:03,093][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:17:03,393][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:17:04,009][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:17:04,310][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2519645990692005, -0.010490577553982305) +[2026-09-16 21:17:04,310][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2519646 -0.01049058] +[2026-09-16 21:17:04,443][root][INFO] - initializing, .... +[2026-09-16 21:17:11,723][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.37 Hz +[2026-09-16 21:17:14,447][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.73 Hz +[2026-09-16 21:17:21,725][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.75 Hz +[2026-09-16 21:17:24,450][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.91 Hz +[2026-09-16 21:17:29,545][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.57 iterations per second over 30.00 seconds. +[2026-09-16 21:17:29,545][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003975 s, max step_time: 0.075936 s +[2026-09-16 21:17:31,727][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.75 Hz +[2026-09-16 21:17:32,377][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.29 iterations per second over 30.00 seconds. +[2026-09-16 21:17:32,378][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004027 s, max step_time: 0.075982 s +[2026-09-16 21:17:34,452][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.16 Hz +[2026-09-16 21:17:41,731][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.62 Hz +[2026-09-16 21:17:44,453][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.08 Hz +[2026-09-16 21:17:46,306][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] +[2026-09-16 21:17:46,306][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] +[2026-09-16 21:17:51,730][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.70 Hz +[2026-09-16 21:17:54,454][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.14 Hz +[2026-09-16 21:17:59,545][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.26 iterations per second over 30.00 seconds. +[2026-09-16 21:17:59,546][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003872 s, max step_time: 0.024818 s +[2026-09-16 21:18:01,733][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.23 Hz +[2026-09-16 21:18:02,380][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.65 iterations per second over 30.00 seconds. +[2026-09-16 21:18:02,380][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003866 s, max step_time: 0.021751 s +[2026-09-16 21:18:04,456][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.19 Hz +[2026-09-16 21:18:11,736][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.73 Hz +[2026-09-16 21:18:14,457][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.05 Hz +[2026-09-16 21:18:21,703][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.99 iterations per second over 19.32 seconds. +[2026-09-16 21:18:21,710][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.99 iterations per second over 22.16 seconds. +[2026-09-16 21:18:23,316][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:18:23,317][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:18:23,317][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:18:23,317][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:18:23,317][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:18:23,317][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:18:23,317][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:18:23,317][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:18:23,317][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:18:23,318][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:18:23,318][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:18:23,318][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:18:23,318][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:18:23,318][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:18:23,318][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:18:23,318][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} +[2026-09-16 21:18:23,319][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 +[2026-09-16 21:18:23,319][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 +[2026-09-16 21:18:23,319][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:18:23,319][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:18:23,319][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:18:23,319][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:18:23,319][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:18:23,319][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:18:23,319][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:18:23,319][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:18:23,319][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:18:23,319][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:18:23,319][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:18:23,319][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 +[2026-09-16 21:18:23,320][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:18:23,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:18:23,343][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:18:23,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:18:23,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:18:23,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:23,387][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:18:23,398][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:18:23,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:23,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:18:23,431][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:18:23,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:23,453][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:18:23,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:18:23,475][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:23,486][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:18:23,497][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:18:23,508][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:23,519][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:18:23,530][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:18:23,540][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:23,551][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:18:23,551][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:18:23,551][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 +[2026-09-16 21:18:23,552][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:18:23,605][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 +[2026-09-16 21:18:23,659][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 +[2026-09-16 21:18:23,714][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 +[2026-09-16 21:18:23,768][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 +[2026-09-16 21:18:23,822][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 +[2026-09-16 21:18:23,876][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 +[2026-09-16 21:18:23,930][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 +[2026-09-16 21:18:23,930][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) +[2026-09-16 21:18:23,930][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:18:23,930][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:18:23,941][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:18:23,947][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:18:23,953][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:18:23,959][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:18:23,965][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:18:23,971][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:18:23,977][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:18:23,983][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=-0.012210012210012167, 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)] +[2026-09-16 21:18:23,983][root][INFO] - current_pos: [0.0013351644159609322, -0.000953688868543523, 0.0017166399633783413, 0.0005722133211261138, 0.03490501258869294, 0.033379110399023304, 0.046349279011215216] +[2026-09-16 21:18:23,983][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:18:23,983][root][INFO] - starting separate thread for control loop +[2026-09-16 21:18:24,083][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564704.0836604), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564704.0836604), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=32.0, timestamp=1789564704.0836604), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=33.0, timestamp=1789564704.0836604), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=0.03490501258869294, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789564704.0836604), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.033379110399023304, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564704.0836604), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.046349279011215216, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564704.0836604)] +[2026-09-16 21:18:24,083][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:18:24,083][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0463 +[2026-09-16 21:18:24,083][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:18:24,712][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 21:18:25,012][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:18:25,643][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:18:25,943][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.00705729762722207) +[2026-09-16 21:18:25,944][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-16 21:18:26,184][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 +[2026-09-16 21:18:26,184][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 +[2026-09-16 21:18:26,184][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:18:26,184][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:18:26,184][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:18:26,184][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:18:26,184][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:18:26,184][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:18:26,184][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:18:26,184][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:18:26,184][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:18:26,184][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:18:26,184][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:18:26,184][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 +[2026-09-16 21:18:26,184][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:18:26,185][root][INFO] - initializing, .... +[2026-09-16 21:18:26,195][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:18:26,206][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:26,217][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:18:26,228][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:18:26,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:26,251][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:18:26,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:18:26,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:26,283][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:18:26,294][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:18:26,304][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:26,315][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:18:26,326][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:18:26,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:26,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:18:26,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:18:26,369][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:26,380][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:18:26,391][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:18:26,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:18:26,412][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:18:26,412][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:18:26,412][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 +[2026-09-16 21:18:26,413][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:18:26,468][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 +[2026-09-16 21:18:26,521][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 +[2026-09-16 21:18:26,575][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 +[2026-09-16 21:18:26,628][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 +[2026-09-16 21:18:26,682][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 +[2026-09-16 21:18:26,735][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 +[2026-09-16 21:18:26,790][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 +[2026-09-16 21:18:26,790][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) +[2026-09-16 21:18:26,790][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:18:26,790][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:18:26,801][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:18:26,806][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:18:26,812][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:18:26,818][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:18:26,824][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:18:26,830][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:18:26,836][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:18:26,842][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 21:18:26,842][root][INFO] - current_pos: [-0.04024567025253667, -0.0013351644159609322, 0.000953688868543523, 0.0036240177004653873, 0.03147173266193626, 0.015449759670405072, 0.006675822079804661] +[2026-09-16 21:18:26,842][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:18:26,842][root][INFO] - starting separate thread for control loop +[2026-09-16 21:18:26,943][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.04786324786324769, pos=-0.04024567025253667, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564706.9431982), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=27.0, temp_rotor=28.0, timestamp=1789564706.9431982), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789564706.9431982), 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=31.0, timestamp=1789564706.9431982), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.03147173266193626, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789564706.9431982), MotorInfo(id=6, 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=1789564706.9431982), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=0.006675822079804661, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564706.9431982)] +[2026-09-16 21:18:26,943][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:18:26,943][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0067 +[2026-09-16 21:18:26,943][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:18:27,630][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 21:18:27,930][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:18:28,597][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 21:18:28,897][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252346074616618, -0.010872053101396162) +[2026-09-16 21:18:28,898][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25234607 -0.01087205] +[2026-09-16 21:18:29,022][root][INFO] - initializing, .... +[2026-09-16 21:18:36,190][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 +[2026-09-16 21:18:39,025][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.06 Hz +[2026-09-16 21:18:46,192][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.57 Hz +[2026-09-16 21:18:49,026][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.37 Hz +[2026-09-16 21:18:53,984][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.90 iterations per second over 30.00 seconds. +[2026-09-16 21:18:53,984][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003954 s, max step_time: 0.071374 s +[2026-09-16 21:18:56,191][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.20 Hz +[2026-09-16 21:18:56,845][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.37 iterations per second over 30.00 seconds. +[2026-09-16 21:18:56,846][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004010 s, max step_time: 0.064981 s +[2026-09-16 21:18:59,030][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.23 Hz +[2026-09-16 21:19:06,195][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.30 Hz +[2026-09-16 21:19:09,030][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.87 Hz +[2026-09-16 21:19:11,422][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] +[2026-09-16 21:19:11,422][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] +[2026-09-16 21:19:16,197][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.12 Hz +[2026-09-16 21:19:19,032][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.46 Hz +[2026-09-16 21:19:23,984][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.76 iterations per second over 30.00 seconds. +[2026-09-16 21:19:23,984][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003865 s, max step_time: 0.057239 s +[2026-09-16 21:19:26,201][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.41 Hz +[2026-09-16 21:19:26,847][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.65 iterations per second over 30.00 seconds. +[2026-09-16 21:19:26,847][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003851 s, max step_time: 0.048483 s +[2026-09-16 21:19:29,036][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.59 Hz +[2026-09-16 21:19:36,202][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.27 Hz +[2026-09-16 21:19:39,037][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.78 Hz +[2026-09-16 21:19:46,202][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.99 Hz +[2026-09-16 21:19:49,038][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.80 Hz +[2026-09-16 21:19:53,987][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.11 iterations per second over 30.00 seconds. +[2026-09-16 21:19:53,987][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003920 s, max step_time: 0.008355 s +[2026-09-16 21:19:56,205][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.23 Hz +[2026-09-16 21:19:56,847][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.83 iterations per second over 30.00 seconds. +[2026-09-16 21:19:56,847][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003940 s, max step_time: 0.007926 s +[2026-09-16 21:19:59,038][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.19 Hz +[2026-09-16 21:20:06,208][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.01 Hz +[2026-09-16 21:20:09,042][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.90 Hz +[2026-09-16 21:20:16,210][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.05 Hz +[2026-09-16 21:20:19,045][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.63 Hz +[2026-09-16 21:20:23,990][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.71 iterations per second over 30.00 seconds. +[2026-09-16 21:20:23,990][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003895 s, max step_time: 0.018395 s +[2026-09-16 21:20:26,212][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.56 Hz +[2026-09-16 21:20:26,847][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.97 iterations per second over 30.00 seconds. +[2026-09-16 21:20:26,847][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003892 s, max step_time: 0.023167 s +[2026-09-16 21:20:29,045][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.29 Hz +[2026-09-16 21:20:36,214][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.05 Hz +[2026-09-16 21:20:39,048][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.03 Hz +[2026-09-16 21:20:41,377][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 261.31 iterations per second over 14.53 seconds. +[2026-09-16 21:20:41,386][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.95 iterations per second over 17.40 seconds. +[2026-09-16 21:20:43,749][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:20:43,750][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:20:43,751][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:20:43,751][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:20:43,751][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:20:43,751][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:20:43,751][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:20:43,751][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:20:43,751][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:20:43,752][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:20:43,752][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:20:43,752][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:20:43,752][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:20:43,752][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:20:43,752][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:20:43,752][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} +[2026-09-16 21:20:43,753][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 +[2026-09-16 21:20:43,753][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 +[2026-09-16 21:20:43,753][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:20:43,753][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:20:43,753][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:20:43,753][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:20:43,753][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:20:43,753][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:20:43,753][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:20:43,753][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:20:43,753][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:20:43,753][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:20:43,753][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:20:43,753][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 +[2026-09-16 21:20:43,754][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:20:43,766][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:20:43,777][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:20:43,788][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:20:43,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:20:43,811][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:43,822][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:20:43,833][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:20:43,844][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:43,855][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:20:43,866][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:20:43,877][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:43,887][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:20:43,898][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:20:43,909][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:43,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:20:43,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:20:43,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:43,952][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:20:43,963][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:20:43,973][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:43,984][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:20:43,984][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:20:43,984][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 +[2026-09-16 21:20:43,984][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:20:44,038][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 +[2026-09-16 21:20:44,092][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 +[2026-09-16 21:20:44,146][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 +[2026-09-16 21:20:44,200][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 +[2026-09-16 21:20:44,254][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 +[2026-09-16 21:20:44,307][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 +[2026-09-16 21:20:44,361][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 +[2026-09-16 21:20:44,361][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) +[2026-09-16 21:20:44,361][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:20:44,361][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:20:44,372][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:20:44,377][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:20:44,383][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:20:44,389][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:20:44,395][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:20:44,401][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:20:44,407][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:20:44,413][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 21:20:44,413][root][INFO] - current_pos: [-0.01163500419623098, -0.0013351644159609322, 0.0017166399633783413, 0.000953688868543523, 0.004386968795300206, -0.2546349279011224, 0.006675822079804661] +[2026-09-16 21:20:44,413][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:20:44,413][root][INFO] - starting separate thread for control loop +[2026-09-16 21:20:44,514][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.02051282051282044, pos=-0.01163500419623098, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564844.5139601), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.0009536888685399703, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564844.5139601), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=33.0, timestamp=1789564844.5139601), 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=1789564844.5139601), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0040054932478827965, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789564844.5139601), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.2546349279011224, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564844.5139601), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.006675822079804661, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789564844.5139601)] +[2026-09-16 21:20:44,514][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:20:44,514][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0067 +[2026-09-16 21:20:44,514][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:20:45,199][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 21:20:45,499][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:20:46,130][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:20:46,430][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.007057297627218517) +[2026-09-16 21:20:46,430][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.0070573] +[2026-09-16 21:20:46,663][root][INFO] - initializing, .... +[2026-09-16 21:20:46,664][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 +[2026-09-16 21:20:46,664][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 +[2026-09-16 21:20:46,664][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:20:46,664][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:20:46,664][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:20:46,665][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:20:46,665][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:20:46,665][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:20:46,665][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:20:46,665][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:20:46,665][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:20:46,665][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:20:46,665][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:20:46,665][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 +[2026-09-16 21:20:46,665][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:20:46,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:20:46,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:46,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:20:46,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:20:46,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:46,730][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:20:46,741][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:20:46,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:46,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:20:46,773][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:20:46,784][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:46,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:20:46,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:20:46,816][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:46,827][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:20:46,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:20:46,848][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:46,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:20:46,870][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:20:46,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:20:46,892][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:20:46,892][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:20:46,892][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 +[2026-09-16 21:20:46,892][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:20:46,946][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 +[2026-09-16 21:20:46,999][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 +[2026-09-16 21:20:47,054][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 +[2026-09-16 21:20:47,108][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 +[2026-09-16 21:20:47,161][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 +[2026-09-16 21:20:47,215][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 +[2026-09-16 21:20:47,270][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 +[2026-09-16 21:20:47,270][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) +[2026-09-16 21:20:47,270][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:20:47,270][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:20:47,281][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:20:47,286][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:20:47,292][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:20:47,298][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:20:47,304][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:20:47,310][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:20:47,316][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:20:47,322][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=-0.07521367521367495, 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)] +[2026-09-16 21:20:47,322][root][INFO] - current_pos: [0.05016403448538931, -0.0013351644159609322, 0.000953688868543523, 0.0005722133211261138, -0.023079270618753256, 0.1657511253528643, 0.8482108796826129] +[2026-09-16 21:20:47,322][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:20:47,322][root][INFO] - starting separate thread for control loop +[2026-09-16 21:20:47,422][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.02051282051282044, pos=0.05054551003280672, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789564847.422701), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=29.0, timestamp=1789564847.422701), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789564847.422701), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=33.0, timestamp=1789564847.422701), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.023079270618753256, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789564847.422701), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=0.16536964980544688, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564847.422701), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.8482108796826129, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789564847.422701)] +[2026-09-16 21:20:47,422][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:20:47,422][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.8482 +[2026-09-16 21:20:47,422][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:20:48,042][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 21:20:48,342][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:20:48,964][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 21:20:49,264][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.258831158922714, -0.010490577553982305) +[2026-09-16 21:20:49,264][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25883116 -0.01049058] +[2026-09-16 21:20:49,389][root][INFO] - initializing, .... +[2026-09-16 21:20:56,667][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.67 Hz +[2026-09-16 21:20:59,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.59 Hz +[2026-09-16 21:21:06,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.54 Hz +[2026-09-16 21:21:09,393][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.34 Hz +[2026-09-16 21:21:14,415][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.55 iterations per second over 30.00 seconds. +[2026-09-16 21:21:14,415][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003928 s, max step_time: 0.063282 s +[2026-09-16 21:21:16,673][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.59 Hz +[2026-09-16 21:21:17,324][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.38 iterations per second over 30.00 seconds. +[2026-09-16 21:21:17,324][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003993 s, max step_time: 0.066962 s +[2026-09-16 21:21:19,394][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.99 Hz +[2026-09-16 21:21:26,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.02 Hz +[2026-09-16 21:21:29,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.26 Hz +[2026-09-16 21:21:36,677][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.67 Hz +[2026-09-16 21:21:39,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.84 Hz +[2026-09-16 21:21:44,417][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.98 iterations per second over 30.00 seconds. +[2026-09-16 21:21:44,417][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003846 s, max step_time: 0.033173 s +[2026-09-16 21:21:46,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.39 Hz +[2026-09-16 21:21:47,327][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.35 iterations per second over 30.00 seconds. +[2026-09-16 21:21:47,327][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003841 s, max step_time: 0.008308 s +[2026-09-16 21:21:49,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.09 Hz +[2026-09-16 21:21:56,682][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.10 Hz +[2026-09-16 21:21:59,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.24 Hz +[2026-09-16 21:22:06,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.35 Hz +[2026-09-16 21:22:09,402][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.55 Hz +[2026-09-16 21:22:09,675][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.16 iterations per second over 22.35 seconds. +[2026-09-16 21:22:09,683][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.67 iterations per second over 25.27 seconds. +[2026-09-16 21:23:44,224][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 21:23:44,225][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 21:23:44,225][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 21:23:44,225][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 21:23:44,225][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 21:23:44,225][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 21:23:44,225][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 21:23:44,225][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 21:23:44,226][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 21:23:44,226][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 21:23:44,226][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 21:23:44,226][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 21:23:44,226][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 21:23:44,226][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 21:23:44,226][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 21:23:44,227][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} +[2026-09-16 21:23:44,227][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 +[2026-09-16 21:23:44,227][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 +[2026-09-16 21:23:44,228][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:23:44,228][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:23:44,228][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:23:44,228][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:23:44,228][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:23:44,228][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:23:44,228][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:23:44,228][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:23:44,228][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:23:44,228][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:23:44,228][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 21:23:44,228][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 +[2026-09-16 21:23:44,229][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:23:44,240][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:23:44,251][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 21:23:44,262][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:23:44,274][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:23:44,285][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:44,297][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:23:44,308][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:23:44,318][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:44,330][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:23:44,341][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:23:44,352][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:44,363][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:23:44,374][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:23:44,385][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:44,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:23:44,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:23:44,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:44,429][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:23:44,440][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:23:44,451][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:44,462][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:23:44,462][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 21:23:44,462][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 +[2026-09-16 21:23:44,462][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:23:44,516][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 +[2026-09-16 21:23:44,569][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 +[2026-09-16 21:23:44,624][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 +[2026-09-16 21:23:44,677][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 +[2026-09-16 21:23:44,731][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 +[2026-09-16 21:23:44,786][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 +[2026-09-16 21:23:44,840][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 +[2026-09-16 21:23:44,840][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) +[2026-09-16 21:23:44,840][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:23:44,840][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:23:44,851][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:23:44,856][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:23:44,862][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:23:44,868][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:23:44,874][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:23:44,880][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:23:44,887][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:23:44,893][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 21:23:44,893][root][INFO] - current_pos: [-0.019264515144579164, -0.000953688868543523, 0.0017166399633783413, 0.0001907377737087046, 0.008583199816891707, -0.04100862134737149, 0.022697795071335847] +[2026-09-16 21:23:44,893][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:23:44,893][root][INFO] - starting separate thread for control loop +[2026-09-16 21:23:44,994][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=0.006837606837606813, pos=-0.019264515144579164, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789565024.9940054), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789565024.9940054), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789565024.9940054), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789565024.9940054), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.008583199816891707, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789565024.9940054), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.04100862134737149, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565024.9940054), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.022697795071335847, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789565024.9940054)] +[2026-09-16 21:23:44,994][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:23:44,994][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-16 21:23:44,994][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:23:45,621][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2676 +[2026-09-16 21:23:45,921][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:23:46,541][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 21:23:46,841][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267605096513314, -0.007438773174639479) +[2026-09-16 21:23:46,842][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2676051 -0.00743877] +[2026-09-16 21:23:47,132][root][INFO] - initializing, .... +[2026-09-16 21:23:47,132][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 +[2026-09-16 21:23:47,133][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 +[2026-09-16 21:23:47,133][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 21:23:47,133][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 21:23:47,133][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 21:23:47,133][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 21:23:47,133][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 21:23:47,133][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 21:23:47,133][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 21:23:47,133][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 21:23:47,133][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 21:23:47,133][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 21:23:47,133][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 21:23:47,133][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 +[2026-09-16 21:23:47,133][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:23:47,144][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 21:23:47,155][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:47,166][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:23:47,176][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 21:23:47,187][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:47,198][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:23:47,209][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 21:23:47,219][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:47,230][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 21:23:47,241][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 21:23:47,252][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:47,262][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:23:47,273][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 21:23:47,284][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:47,294][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:23:47,305][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 21:23:47,316][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:47,327][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:23:47,337][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 21:23:47,348][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 21:23:47,359][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 21:23:47,359][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 21:23:47,359][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 +[2026-09-16 21:23:47,359][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:23:47,413][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 +[2026-09-16 21:23:47,467][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 +[2026-09-16 21:23:47,520][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 +[2026-09-16 21:23:47,574][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 +[2026-09-16 21:23:47,627][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 +[2026-09-16 21:23:47,681][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 +[2026-09-16 21:23:47,735][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 +[2026-09-16 21:23:47,735][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) +[2026-09-16 21:23:47,735][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 21:23:47,735][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 21:23:47,746][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 21:23:47,751][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 21:23:47,757][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 21:23:47,764][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 21:23:47,770][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 21:23:47,775][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 21:23:47,782][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 21:23:47,788][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=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 21:23:47,788][root][INFO] - current_pos: [0.002861066605630569, -0.0013351644159609322, 0.000953688868543523, 0.0005722133211261138, -0.023842221713588074, 0.08640421149004318, 0.056649118791485265] +[2026-09-16 21:23:47,788][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 21:23:47,788][root][INFO] - starting separate thread for control loop +[2026-09-16 21:23:47,889][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789565027.8891659), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.08888888888888857, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789565027.8891659), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789565027.8891659), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789565027.8891659), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.023842221713588074, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789565027.8891659), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.08640421149004318, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565027.8891659), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.056649118791485265, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789565027.8891659)] +[2026-09-16 21:23:47,889][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 21:23:47,889][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0566 +[2026-09-16 21:23:47,889][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 21:23:48,560][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 21:23:48,860][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 21:23:49,479][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 21:23:49,779][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252346074616618, -0.010872053101396162) +[2026-09-16 21:23:49,780][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25234607 -0.01087205] +[2026-09-16 21:23:49,904][root][INFO] - initializing, .... +[2026-09-16 21:23:57,137][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.03 Hz +[2026-09-16 21:23:59,906][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.35 Hz +[2026-09-16 21:24:07,140][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.84 Hz +[2026-09-16 21:24:09,908][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.55 Hz +[2026-09-16 21:24:14,895][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.98 iterations per second over 30.00 seconds. +[2026-09-16 21:24:14,895][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003906 s, max step_time: 0.075974 s +[2026-09-16 21:24:17,141][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.45 Hz +[2026-09-16 21:24:17,789][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.90 iterations per second over 30.00 seconds. +[2026-09-16 21:24:17,789][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003954 s, max step_time: 0.072287 s +[2026-09-16 21:24:19,911][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.93 Hz +[2026-09-16 21:24:27,144][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.04 Hz +[2026-09-16 21:24:29,913][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.55 Hz +[2026-09-16 21:24:37,147][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.04 Hz +[2026-09-16 21:24:39,916][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.42 Hz +[2026-09-16 21:24:44,898][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.08 iterations per second over 30.00 seconds. +[2026-09-16 21:24:44,898][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003905 s, max step_time: 0.022292 s +[2026-09-16 21:24:47,148][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.76 Hz +[2026-09-16 21:24:47,790][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.66 iterations per second over 30.00 seconds. +[2026-09-16 21:24:47,790][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003911 s, max step_time: 0.024538 s +[2026-09-16 21:24:49,916][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.59 Hz +[2026-09-16 21:24:57,151][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.72 Hz +[2026-09-16 21:24:59,919][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.13 Hz +[2026-09-16 21:25:01,161][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.21 iterations per second over 13.37 seconds. +[2026-09-16 21:25:01,169][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 261.99 iterations per second over 16.27 seconds. +[2026-09-16 23:11:32,217][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:11:32,218][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:11:32,218][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:11:32,219][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:11:32,219][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:11:32,219][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:11:32,219][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:11:32,219][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:11:32,219][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:11:32,220][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:11:32,220][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:11:32,220][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:11:32,220][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:11:32,220][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:11:32,220][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:11:32,220][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} +[2026-09-16 23:11:32,220][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 +[2026-09-16 23:11:32,221][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 +[2026-09-16 23:11:32,221][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:11:32,221][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:11:32,221][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:11:32,221][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:11:32,221][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:11:32,221][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:11:32,221][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:11:32,221][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:11:32,221][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:11:32,221][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:11:32,221][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:11:32,221][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 +[2026-09-16 23:11:32,222][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:11:32,233][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:11:32,244][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:11:32,255][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:11:32,266][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:11:32,277][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:32,288][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:11:32,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:11:32,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:32,321][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:11:32,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:11:32,342][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:32,353][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:11:32,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:11:32,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:32,385][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:11:32,396][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:11:32,407][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:32,418][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:11:32,428][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:11:32,439][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:32,450][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:11:32,450][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:11:32,450][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 +[2026-09-16 23:11:32,450][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:11:32,504][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 +[2026-09-16 23:11:32,557][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 +[2026-09-16 23:11:32,611][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 +[2026-09-16 23:11:32,665][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 +[2026-09-16 23:11:32,718][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 +[2026-09-16 23:11:32,772][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 +[2026-09-16 23:11:32,826][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 +[2026-09-16 23:11:32,826][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) +[2026-09-16 23:11:32,827][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:11:32,827][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:11:32,837][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:11:32,843][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:11:32,849][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:11:32,855][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:11:32,861][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:11:32,867][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:11:32,873][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:11:32,879][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=-0.02051282051282044, 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=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 23:11:32,879][root][INFO] - current_pos: [-0.004386968795300206, -0.000953688868543523, 0.0017166399633783413, 0.0005722133211261138, -0.017738612954909527, -0.07190814068818163, -0.002861066605630569] +[2026-09-16 23:11:32,879][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:11:32,879][root][INFO] - starting separate thread for control loop +[2026-09-16 23:11:32,980][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=0.006837606837606813, pos=-0.004005493247879244, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789571492.980189), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571492.980189), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789571492.980189), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=34.0, timestamp=1789571492.980189), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.017738612954909527, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789571492.980189), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.07190814068818163, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571492.980189), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.002861066605630569, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571492.980189)] +[2026-09-16 23:11:32,980][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:11:32,980][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-16 23:11:32,980][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:11:33,608][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:11:33,909][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:11:34,539][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:11:34,839][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.007057297627218517) +[2026-09-16 23:11:34,839][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 23:11:35,074][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 +[2026-09-16 23:11:35,074][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 +[2026-09-16 23:11:35,074][root][INFO] - initializing, .... +[2026-09-16 23:11:35,074][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:11:35,075][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:11:35,075][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:11:35,075][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:11:35,075][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:11:35,075][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:11:35,075][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:11:35,075][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:11:35,075][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:11:35,075][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:11:35,075][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:11:35,075][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 +[2026-09-16 23:11:35,075][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:11:35,086][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:11:35,097][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:35,107][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:11:35,118][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:11:35,129][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:35,140][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:11:35,151][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:11:35,162][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:35,172][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:11:35,183][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:11:35,194][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:35,205][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:11:35,215][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:11:35,226][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:35,237][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:11:35,247][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:11:35,258][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:35,269][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:11:35,280][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:11:35,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:11:35,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:11:35,302][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:11:35,302][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 +[2026-09-16 23:11:35,302][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:11:35,356][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 +[2026-09-16 23:11:35,409][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 +[2026-09-16 23:11:35,463][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 +[2026-09-16 23:11:35,516][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 +[2026-09-16 23:11:35,571][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 +[2026-09-16 23:11:35,624][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 +[2026-09-16 23:11:35,678][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 +[2026-09-16 23:11:35,679][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) +[2026-09-16 23:11:35,679][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:11:35,679][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:11:35,690][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:11:35,695][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:11:35,701][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:11:35,707][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:11:35,713][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:11:35,719][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:11:35,725][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:11:35,731][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=-0.07521367521367495, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 23:11:35,731][root][INFO] - current_pos: [-0.02651255054550994, -0.0013351644159609322, 0.000953688868543523, 0.006675822079804661, -0.09403372243839137, 0.07152666514076422, 0.006294346532387252] +[2026-09-16 23:11:35,731][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:11:35,731][root][INFO] - starting separate thread for control loop +[2026-09-16 23:11:35,832][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=-0.02651255054550994, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789571495.832341), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.08888888888888857, pos=-0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789571495.832341), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=34.0, timestamp=1789571495.832341), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.006675822079804661, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789571495.832341), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.09403372243839137, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789571495.832341), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.07152666514076422, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789571495.832341), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.006294346532387252, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789571495.832341)] +[2026-09-16 23:11:35,832][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:11:35,832][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0063 +[2026-09-16 23:11:35,832][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:11:36,505][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 23:11:36,805][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:11:37,430][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:11:37,730][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.271038376440071, -0.01087205310139261) +[2026-09-16 23:11:37,730][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27103838 -0.01087205] +[2026-09-16 23:11:37,853][root][INFO] - initializing, .... +[2026-09-16 23:11:45,080][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.80 Hz +[2026-09-16 23:11:47,858][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.58 Hz +[2026-09-16 23:11:55,084][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.12 Hz +[2026-09-16 23:11:57,858][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.08 Hz +[2026-09-16 23:12:02,880][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.40 iterations per second over 30.00 seconds. +[2026-09-16 23:12:02,880][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003977 s, max step_time: 0.066379 s +[2026-09-16 23:12:05,087][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.91 Hz +[2026-09-16 23:12:05,734][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.65 iterations per second over 30.00 seconds. +[2026-09-16 23:12:05,734][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.004021 s, max step_time: 0.069938 s +[2026-09-16 23:12:07,859][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.87 Hz +[2026-09-16 23:12:15,089][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.26 Hz +[2026-09-16 23:12:17,859][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.00 Hz +[2026-09-16 23:12:25,090][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.18 Hz +[2026-09-16 23:12:27,860][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.85 Hz +[2026-09-16 23:12:32,883][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.71 iterations per second over 30.00 seconds. +[2026-09-16 23:12:32,883][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003911 s, max step_time: 0.022882 s +[2026-09-16 23:12:35,093][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.99 Hz +[2026-09-16 23:12:35,736][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.75 iterations per second over 30.00 seconds. +[2026-09-16 23:12:35,736][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003910 s, max step_time: 0.030988 s +[2026-09-16 23:12:37,863][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 265.53 Hz +[2026-09-16 23:12:45,096][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.73 Hz +[2026-09-16 23:12:47,864][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 +[2026-09-16 23:12:55,098][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.26 Hz +[2026-09-16 23:12:57,866][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 271.85 Hz +[2026-09-16 23:12:59,096][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 266.14 iterations per second over 23.36 seconds. +[2026-09-16 23:12:59,104][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 266.89 iterations per second over 26.22 seconds. +[2026-09-16 23:13:52,448][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:13:52,449][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:13:52,449][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:13:52,449][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:13:52,449][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:13:52,449][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:13:52,449][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:13:52,450][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:13:52,450][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:13:52,451][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:13:52,451][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:13:52,451][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:13:52,451][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:13:52,451][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:13:52,451][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:13:52,451][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} +[2026-09-16 23:13:52,451][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 +[2026-09-16 23:13:52,451][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 +[2026-09-16 23:13:52,451][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:13:52,451][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:13:52,451][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:13:52,451][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:13:52,451][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:13:52,451][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:13:52,451][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:13:52,451][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:13:52,451][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:13:52,451][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:13:52,451][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:13:52,451][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 +[2026-09-16 23:13:52,452][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:13:52,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:13:52,475][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:13:52,486][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:13:52,497][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:13:52,508][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:52,520][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:13:52,531][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:13:52,542][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:52,553][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:13:52,564][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:13:52,575][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:52,586][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:13:52,597][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:13:52,608][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:52,619][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:13:52,630][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:13:52,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:52,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:13:52,663][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:13:52,674][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:52,685][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:13:52,685][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:13:52,685][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 +[2026-09-16 23:13:52,685][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:13:52,739][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 +[2026-09-16 23:13:52,793][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 +[2026-09-16 23:13:52,847][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 +[2026-09-16 23:13:52,901][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 +[2026-09-16 23:13:52,955][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 +[2026-09-16 23:13:53,009][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 +[2026-09-16 23:13:53,063][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 +[2026-09-16 23:13:53,063][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) +[2026-09-16 23:13:53,063][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:13:53,063][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:13:53,074][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:13:53,079][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:13:53,085][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:13:53,091][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:13:53,097][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:13:53,103][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:13:53,109][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:13:53,115][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:13:53,115][root][INFO] - current_pos: [-0.042534523537041125, -0.0001907377737087046, 0.0017166399633783413, 0.0005722133211261138, 0.0017166399633783413, -0.02613107499809253, -0.000953688868543523] +[2026-09-16 23:13:53,115][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:13:53,115][root][INFO] - starting separate thread for control loop +[2026-09-16 23:13:53,216][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=-0.042534523537041125, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789571633.2160575), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.07521367521367495, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571633.2160575), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.02051282051282044, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=34.0, timestamp=1789571633.2160575), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=34.0, timestamp=1789571633.2160575), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.0017166399633783413, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789571633.2160575), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.02613107499809253, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571633.2160575), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571633.2160575)] +[2026-09-16 23:13:53,216][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:13:53,216][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-16 23:13:53,216][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:13:53,846][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:13:54,146][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:13:54,777][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:13:55,077][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.272945754177158, -0.00705729762722207) +[2026-09-16 23:13:55,077][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27294575 -0.0070573 ] +[2026-09-16 23:13:55,312][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 +[2026-09-16 23:13:55,312][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 +[2026-09-16 23:13:55,312][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:13:55,312][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:13:55,312][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:13:55,313][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:13:55,313][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:13:55,313][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:13:55,313][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:13:55,313][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:13:55,313][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:13:55,313][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:13:55,313][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:13:55,313][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 +[2026-09-16 23:13:55,313][root][INFO] - initializing, .... +[2026-09-16 23:13:55,313][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:13:55,324][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:13:55,335][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:55,346][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:13:55,356][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:13:55,367][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:55,378][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:13:55,389][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:13:55,399][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:55,410][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:13:55,421][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:13:55,432][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:55,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:13:55,453][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:13:55,464][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:55,475][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:13:55,486][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:13:55,497][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:55,507][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:13:55,518][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:13:55,529][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:13:55,540][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:13:55,540][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:13:55,540][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 +[2026-09-16 23:13:55,541][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:13:55,594][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 +[2026-09-16 23:13:55,648][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 +[2026-09-16 23:13:55,702][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 +[2026-09-16 23:13:55,755][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 +[2026-09-16 23:13:55,809][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 +[2026-09-16 23:13:55,863][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 +[2026-09-16 23:13:55,916][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 +[2026-09-16 23:13:55,916][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) +[2026-09-16 23:13:55,916][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:13:55,916][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:13:55,927][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:13:55,932][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:13:55,938][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:13:55,944][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:13:55,950][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:13:55,956][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:13:55,962][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:13:55,968][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=-0.0073260073260073, 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)] +[2026-09-16 23:13:55,968][root][INFO] - current_pos: [0.026894026092927348, -0.0013351644159609322, 0.000953688868543523, 0.000953688868543523, -0.0017166399633783413, 0.08640421149004318, -0.003242542153047978] +[2026-09-16 23:13:55,968][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:13:55,968][root][INFO] - starting separate thread for control loop +[2026-09-16 23:13:56,069][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.03418803418803407, pos=0.026894026092927348, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789571636.0693007), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789571636.0693007), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=34.0, timestamp=1789571636.0693007), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=33.0, timestamp=1789571636.0693007), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0020981155107993033, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789571636.0693007), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.08640421149004318, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789571636.0693007), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.0028610666056341216, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789571636.0693007)] +[2026-09-16 23:13:56,069][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:13:56,069][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-16 23:13:56,069][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:13:56,733][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-16 23:13:57,033][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:13:57,650][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:13:57,950][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.2752346074616625, -0.010872053101396162) +[2026-09-16 23:13:57,950][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27523461 -0.01087205] +[2026-09-16 23:13:58,072][root][INFO] - initializing, .... +[2026-09-16 23:14:05,316][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.18 Hz +[2026-09-16 23:14:08,079][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.32 Hz +[2026-09-16 23:14:15,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.59 Hz +[2026-09-16 23:14:18,082][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.12 Hz +[2026-09-16 23:14:23,116][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.36 iterations per second over 30.00 seconds. +[2026-09-16 23:14:23,117][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.003994 s, max step_time: 0.072067 s +[2026-09-16 23:14:25,318][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.13 Hz +[2026-09-16 23:14:25,969][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.96 iterations per second over 30.00 seconds. +[2026-09-16 23:14:25,969][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 26 times, mean step_time: 0.004049 s, max step_time: 0.066197 s +[2026-09-16 23:14:28,089][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.66 Hz +[2026-09-16 23:14:35,318][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.20 Hz +[2026-09-16 23:14:38,089][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.06 Hz +[2026-09-16 23:14:41,073][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] +[2026-09-16 23:14:41,073][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] +[2026-09-16 23:14:45,322][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.00 Hz +[2026-09-16 23:14:48,090][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.68 Hz +[2026-09-16 23:14:53,119][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.35 iterations per second over 30.00 seconds. +[2026-09-16 23:14:53,120][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003995 s, max step_time: 0.043844 s +[2026-09-16 23:14:55,323][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.98 Hz +[2026-09-16 23:14:55,971][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.75 iterations per second over 30.00 seconds. +[2026-09-16 23:14:55,971][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003988 s, max step_time: 0.044929 s +[2026-09-16 23:14:58,092][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.37 Hz +[2026-09-16 23:15:05,325][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.35 Hz +[2026-09-16 23:15:08,093][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.27 Hz +[2026-09-16 23:15:15,328][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.12 Hz +[2026-09-16 23:15:18,096][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.02 Hz +[2026-09-16 23:15:23,121][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.19 iterations per second over 30.00 seconds. +[2026-09-16 23:15:23,121][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004029 s, max step_time: 0.010977 s +[2026-09-16 23:15:24,698][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] +[2026-09-16 23:15:24,698][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] +[2026-09-16 23:15:25,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.97 Hz +[2026-09-16 23:15:25,971][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.53 iterations per second over 30.00 seconds. +[2026-09-16 23:15:25,971][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004040 s, max step_time: 0.032166 s +[2026-09-16 23:15:28,097][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.77 Hz +[2026-09-16 23:15:35,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.87 Hz +[2026-09-16 23:15:38,099][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.85 Hz +[2026-09-16 23:15:45,334][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.80 Hz +[2026-09-16 23:15:48,100][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.87 Hz +[2026-09-16 23:15:51,409][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.05 iterations per second over 25.44 seconds. +[2026-09-16 23:15:51,415][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 265.28 iterations per second over 28.29 seconds. +[2026-09-16 23:15:53,333][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:15:53,334][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:15:53,334][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:15:53,334][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:15:53,334][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:15:53,334][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:15:53,334][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:15:53,334][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:15:53,335][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:15:53,335][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:15:53,335][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:15:53,335][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:15:53,335][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:15:53,335][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:15:53,336][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:15:53,336][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} +[2026-09-16 23:15:53,336][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 +[2026-09-16 23:15:53,336][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 +[2026-09-16 23:15:53,336][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:15:53,336][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:15:53,336][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:15:53,336][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:15:53,336][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:15:53,336][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:15:53,336][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:15:53,336][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:15:53,336][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:15:53,337][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:15:53,337][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:15:53,337][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 +[2026-09-16 23:15:53,337][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:15:53,349][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:15:53,360][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:15:53,371][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:15:53,382][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:15:53,393][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:53,404][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:15:53,415][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:15:53,427][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:53,438][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:15:53,449][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:15:53,460][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:53,471][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:15:53,482][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:15:53,493][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:53,505][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:15:53,516][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:15:53,527][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:53,538][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:15:53,550][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:15:53,561][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:53,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:15:53,572][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-16 23:15:53,572][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 +[2026-09-16 23:15:53,573][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:15:53,628][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 +[2026-09-16 23:15:53,684][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 +[2026-09-16 23:15:53,740][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 +[2026-09-16 23:15:53,795][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 +[2026-09-16 23:15:53,850][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 +[2026-09-16 23:15:53,905][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 +[2026-09-16 23:15:53,960][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 +[2026-09-16 23:15:53,960][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) +[2026-09-16 23:15:53,961][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:15:53,961][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:15:53,972][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:15:53,977][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:15:53,984][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:15:53,991][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:15:53,998][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:15:54,006][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:15:54,012][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:15:54,018][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=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 23:15:54,019][root][INFO] - current_pos: [-0.023079270618753256, -0.000953688868543523, 0.0013351644159609322, 0.008201724269474298, -0.07381551842526868, -0.06427862973983345, -0.0013351644159609322] +[2026-09-16 23:15:54,019][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:15:54,019][root][INFO] - starting separate thread for control loop +[2026-09-16 23:15:54,119][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=-0.023079270618753256, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789571754.1196384), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571754.1196384), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789571754.1196384), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.008201724269474298, voltage=-1, temp_mos=34.0, temp_rotor=39.0, timestamp=1789571754.1196384), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.07381551842526868, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789571754.1196384), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06427862973983345, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571754.1196384), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.0013351644159609322, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571754.1196384)] +[2026-09-16 23:15:54,119][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:15:54,119][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0013 +[2026-09-16 23:15:54,119][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:15:54,747][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:15:55,047][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:15:55,678][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:15:55,979][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270275425345236, -0.00705729762722207) +[2026-09-16 23:15:55,979][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27027543 -0.0070573 ] +[2026-09-16 23:15:56,219][root][INFO] - initializing, .... +[2026-09-16 23:15:56,220][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 +[2026-09-16 23:15:56,220][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 +[2026-09-16 23:15:56,221][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:15:56,221][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:15:56,221][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:15:56,221][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:15:56,221][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:15:56,221][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:15:56,221][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:15:56,221][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:15:56,221][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:15:56,221][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:15:56,221][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:15:56,221][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 +[2026-09-16 23:15:56,221][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:15:56,232][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:15:56,243][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:56,254][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:15:56,265][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:15:56,276][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:56,287][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:15:56,299][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:15:56,310][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:56,321][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:15:56,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:15:56,343][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:56,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:15:56,366][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:15:56,377][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:56,388][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:15:56,399][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:15:56,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:56,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:15:56,431][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:15:56,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:15:56,452][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:15:56,452][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:15:56,452][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 +[2026-09-16 23:15:56,453][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:15:56,506][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 +[2026-09-16 23:15:56,560][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 +[2026-09-16 23:15:56,614][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 +[2026-09-16 23:15:56,667][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 +[2026-09-16 23:15:56,721][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 +[2026-09-16 23:15:56,775][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 +[2026-09-16 23:15:56,828][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 +[2026-09-16 23:15:56,828][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) +[2026-09-16 23:15:56,829][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:15:56,829][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:15:56,839][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:15:56,845][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:15:56,851][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:15:56,857][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:15:56,862][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:15:56,869][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:15:56,875][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:15:56,881][root][INFO] - Initializing motorchain with starting command: [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=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:15:56,881][root][INFO] - current_pos: [0.07648584725719054, -0.0013351644159609322, 0.000953688868543523, 0.000953688868543523, -0.024223697261005483, 0.06008239871824195, -0.0040054932478827965] +[2026-09-16 23:15:56,881][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:15:56,881][root][INFO] - starting separate thread for control loop +[2026-09-16 23:15:56,982][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.07521367521367495, pos=0.07648584725719054, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789571756.9822185), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1789571756.9822185), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789571756.9822185), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789571756.9822185), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.024223697261005483, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789571756.9822185), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.06008239871824195, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789571756.9822185), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.004386968795303758, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789571756.9822185)] +[2026-09-16 23:15:56,982][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:15:56,982][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-16 23:15:56,982][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:15:57,600][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2531 +[2026-09-16 23:15:57,900][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:15:58,507][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:15:58,808][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.253109025711453, -0.01087205310139261) +[2026-09-16 23:15:58,808][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25310903 -0.01087205] +[2026-09-16 23:15:58,930][root][INFO] - initializing, .... +[2026-09-16 23:16:06,226][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.00 Hz +[2026-09-16 23:16:08,938][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.11 Hz +[2026-09-16 23:16:16,230][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.02 Hz +[2026-09-16 23:16:18,941][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.36 Hz +[2026-09-16 23:16:24,021][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.72 iterations per second over 30.00 seconds. +[2026-09-16 23:16:24,021][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003988 s, max step_time: 0.065329 s +[2026-09-16 23:16:26,232][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.85 Hz +[2026-09-16 23:16:26,885][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.07 iterations per second over 30.00 seconds. +[2026-09-16 23:16:26,885][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.004047 s, max step_time: 0.067729 s +[2026-09-16 23:16:28,941][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.36 Hz +[2026-09-16 23:16:36,234][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.83 Hz +[2026-09-16 23:16:38,944][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.64 Hz +[2026-09-16 23:16:46,235][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 +[2026-09-16 23:16:48,944][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.47 Hz +[2026-09-16 23:16:54,023][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.75 iterations per second over 30.00 seconds. +[2026-09-16 23:16:54,023][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003835 s, max step_time: 0.026018 s +[2026-09-16 23:16:56,236][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 262.19 Hz +[2026-09-16 23:16:56,888][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 260.40 iterations per second over 30.00 seconds. +[2026-09-16 23:16:58,945][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.07 Hz +[2026-09-16 23:17:04,449][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003848 s, max step_time: 0.007085 s +[2026-09-16 23:17:06,238][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.45 Hz +[2026-09-16 23:17:08,947][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.85 Hz +[2026-09-16 23:17:16,222][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.77 iterations per second over 19.33 seconds. +[2026-09-16 23:17:16,228][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.98 iterations per second over 22.21 seconds. +[2026-09-16 23:17:18,854][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:17:18,855][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:17:18,855][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:17:18,855][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:17:18,855][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:17:18,855][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:17:18,855][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:17:18,855][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:17:18,855][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:17:18,856][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:17:18,856][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:17:18,856][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:17:18,856][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:17:18,856][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:17:18,856][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:17:18,856][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} +[2026-09-16 23:17:18,857][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 +[2026-09-16 23:17:18,857][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 +[2026-09-16 23:17:18,857][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:17:18,857][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:17:18,857][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:17:18,857][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:17:18,857][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:17:18,857][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:17:18,857][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:17:18,857][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:17:18,857][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:17:18,857][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:17:18,857][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:17:18,857][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 +[2026-09-16 23:17:18,858][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:17:18,870][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:17:18,882][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:17:18,893][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:17:18,904][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:17:18,915][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:18,926][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:17:18,938][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:17:18,949][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:18,960][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:17:18,971][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:17:18,982][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:18,992][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:17:19,003][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:17:19,014][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:19,025][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:17:19,036][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:17:19,047][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:19,057][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:17:19,068][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:17:19,079][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:19,090][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:17:19,090][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:17:19,090][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 +[2026-09-16 23:17:19,090][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:17:19,145][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 +[2026-09-16 23:17:19,198][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 +[2026-09-16 23:17:19,252][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 +[2026-09-16 23:17:19,306][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 +[2026-09-16 23:17:19,361][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 +[2026-09-16 23:17:19,415][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 +[2026-09-16 23:17:19,469][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 +[2026-09-16 23:17:19,469][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) +[2026-09-16 23:17:19,469][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:17:19,469][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:17:19,480][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:17:19,485][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:17:19,492][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:17:19,498][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:17:19,504][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:17:19,510][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:17:19,516][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:17:19,522][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=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 23:17:19,522][root][INFO] - current_pos: [-0.06389715419241604, -0.000953688868543523, 0.0013351644159609322, 0.000953688868543523, -0.002861066605630569, 0.07801174944686018, -0.0020981155107957505] +[2026-09-16 23:17:19,522][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:17:19,523][root][INFO] - starting separate thread for control loop +[2026-09-16 23:17:19,623][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=-0.06389715419241604, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789571839.6235092), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571839.6235092), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789571839.6235092), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789571839.6235092), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.017094017094017033, pos=-0.002861066605630569, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789571839.6235092), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.07801174944686018, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571839.6235092), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0020981155107957505, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571839.6235092)] +[2026-09-16 23:17:19,623][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:17:19,623][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0021 +[2026-09-16 23:17:19,624][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:17:20,252][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:17:20,552][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:17:21,185][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:17:21,486][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.00705729762722207) +[2026-09-16 23:17:21,486][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 23:17:21,726][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 +[2026-09-16 23:17:21,726][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 +[2026-09-16 23:17:21,726][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:17:21,726][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:17:21,726][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:17:21,726][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:17:21,726][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:17:21,726][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:17:21,726][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:17:21,726][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:17:21,726][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:17:21,726][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:17:21,726][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:17:21,726][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 +[2026-09-16 23:17:21,726][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:17:21,727][root][INFO] - initializing, .... +[2026-09-16 23:17:21,737][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:17:21,748][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:21,759][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:17:21,770][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:17:21,781][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:21,791][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:17:21,802][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:17:21,813][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:21,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:17:21,834][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:17:21,845][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:21,856][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:17:21,867][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:17:21,877][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:21,888][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:17:21,899][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:17:21,910][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:21,920][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:17:21,931][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:17:21,942][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:17:21,953][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:17:21,953][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:17:21,953][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 +[2026-09-16 23:17:21,953][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:17:22,007][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 +[2026-09-16 23:17:22,060][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 +[2026-09-16 23:17:22,114][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 +[2026-09-16 23:17:22,167][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 +[2026-09-16 23:17:22,221][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 +[2026-09-16 23:17:22,275][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 +[2026-09-16 23:17:22,328][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 +[2026-09-16 23:17:22,328][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) +[2026-09-16 23:17:22,329][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:17:22,329][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:17:22,339][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:17:22,345][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:17:22,351][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:17:22,357][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:17:22,363][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:17:22,369][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:17:22,374][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:17:22,381][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=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:17:22,381][root][INFO] - current_pos: [0.017738612954909527, -0.000953688868543523, 0.0005722133211261138, 0.000953688868543523, -0.02155336842908362, 0.1829175249866477, -0.004386968795300206] +[2026-09-16 23:17:22,381][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:17:22,381][root][INFO] - starting separate thread for control loop +[2026-09-16 23:17:22,482][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=0.017738612954909527, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789571842.4822564), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.07521367521367495, pos=-0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789571842.4822564), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789571842.4822564), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789571842.4822564), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.02155336842908362, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789571842.4822564), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.1829175249866477, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789571842.4822564), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=-0.004386968795300206, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789571842.4822564)] +[2026-09-16 23:17:22,482][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:17:22,482][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0044 +[2026-09-16 23:17:22,482][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:17:23,101][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 23:17:23,401][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:17:24,023][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:17:24,323][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252346074616618, -0.010872053101396162) +[2026-09-16 23:17:24,323][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25234607 -0.01087205] +[2026-09-16 23:17:24,449][root][INFO] - initializing, .... +[2026-09-16 23:17:31,731][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.22 Hz +[2026-09-16 23:17:34,454][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.97 Hz +[2026-09-16 23:17:41,733][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.18 Hz +[2026-09-16 23:17:44,452][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.09 Hz +[2026-09-16 23:17:49,526][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.34 iterations per second over 30.00 seconds. +[2026-09-16 23:17:49,526][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003962 s, max step_time: 0.074278 s +[2026-09-16 23:17:51,736][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.59 Hz +[2026-09-16 23:17:52,386][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.46 iterations per second over 30.00 seconds. +[2026-09-16 23:17:52,387][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.004041 s, max step_time: 0.071671 s +[2026-09-16 23:17:54,455][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.23 Hz +[2026-09-16 23:17:57,853][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] +[2026-09-16 23:17:57,854][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] +[2026-09-16 23:18:01,740][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.21 Hz +[2026-09-16 23:18:04,455][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 +[2026-09-16 23:18:11,743][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.01 Hz +[2026-09-16 23:18:14,456][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.47 Hz +[2026-09-16 23:18:19,527][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.89 iterations per second over 30.00 seconds. +[2026-09-16 23:18:19,527][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003939 s, max step_time: 0.027595 s +[2026-09-16 23:18:21,747][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.32 Hz +[2026-09-16 23:18:22,387][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.59 iterations per second over 30.00 seconds. +[2026-09-16 23:18:22,388][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003943 s, max step_time: 0.036097 s +[2026-09-16 23:18:24,461][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.61 Hz +[2026-09-16 23:18:31,749][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.43 Hz +[2026-09-16 23:18:34,465][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.61 Hz +[2026-09-16 23:18:35,626][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] +[2026-09-16 23:18:35,626][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] +[2026-09-16 23:18:41,751][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.04 Hz +[2026-09-16 23:18:44,466][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.95 Hz +[2026-09-16 23:18:49,530][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.58 iterations per second over 30.00 seconds. +[2026-09-16 23:18:49,530][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003928 s, max step_time: 0.029436 s +[2026-09-16 23:18:51,753][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.67 Hz +[2026-09-16 23:18:52,389][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.09 iterations per second over 30.00 seconds. +[2026-09-16 23:18:52,389][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: 0.029563 s +[2026-09-16 23:18:54,470][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 266.21 Hz +[2026-09-16 23:19:01,756][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 267.81 Hz +[2026-09-16 23:19:04,470][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.19 Hz +[2026-09-16 23:19:11,758][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 267.34 Hz +[2026-09-16 23:19:12,677][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 267.74 iterations per second over 20.29 seconds. +[2026-09-16 23:19:12,682][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 268.00 iterations per second over 23.15 seconds. +[2026-09-16 23:19:14,749][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:19:14,750][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:19:14,750][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:19:14,750][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:19:14,750][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:19:14,750][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:19:14,750][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:19:14,750][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:19:14,751][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:19:14,751][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:19:14,751][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:19:14,752][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:19:14,752][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:19:14,752][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:19:14,752][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:19:14,752][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} +[2026-09-16 23:19:14,752][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 +[2026-09-16 23:19:14,752][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 +[2026-09-16 23:19:14,753][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:19:14,753][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:19:14,753][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:19:14,753][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:19:14,753][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:19:14,753][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:19:14,753][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:19:14,753][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:19:14,753][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:19:14,753][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:19:14,753][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:19:14,753][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 +[2026-09-16 23:19:14,754][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:19:14,765][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:19:14,776][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:19:14,787][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:19:14,798][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:19:14,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:14,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:19:14,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:19:14,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:14,853][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:19:14,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:19:14,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:14,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:19:14,897][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:19:14,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:14,919][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:19:14,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:19:14,942][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:14,953][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:19:14,964][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:19:14,975][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:14,986][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:19:14,986][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:19:14,986][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 +[2026-09-16 23:19:14,987][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:19:15,041][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 +[2026-09-16 23:19:15,096][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 +[2026-09-16 23:19:15,151][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 +[2026-09-16 23:19:15,206][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 +[2026-09-16 23:19:15,261][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 +[2026-09-16 23:19:15,317][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 +[2026-09-16 23:19:15,373][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 +[2026-09-16 23:19:15,373][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) +[2026-09-16 23:19:15,374][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:19:15,374][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:19:15,385][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:19:15,390][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:19:15,398][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:19:15,403][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:19:15,410][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:19:15,417][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:19:15,424][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:19:15,431][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=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 23:19:15,431][root][INFO] - current_pos: [0.008964675364309116, -0.0001907377737087046, 0.0017166399633783413, 0.003242542153047978, -0.017357137407492118, 0.05283436331731117, -0.0001907377737087046] +[2026-09-16 23:19:15,431][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:19:15,431][root][INFO] - starting separate thread for control loop +[2026-09-16 23:19:15,532][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0366300366300365, eff=-0.03418803418803407, pos=0.008964675364309116, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789571955.5322886), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571955.5322886), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.02051282051282044, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=37.0, timestamp=1789571955.5322886), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0073260073260073, pos=0.003242542153047978, voltage=-1, temp_mos=35.0, temp_rotor=38.0, timestamp=1789571955.5322886), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.017357137407492118, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789571955.5322886), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.05283436331731117, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571955.5322886), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789571955.5322886)] +[2026-09-16 23:19:15,532][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:19:15,532][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0002 +[2026-09-16 23:19:15,532][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:19:16,160][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:19:16,460][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:19:17,088][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:19:17,388][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.275997558556497, -0.00705729762722207) +[2026-09-16 23:19:17,389][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.27599756 -0.0070573 ] +[2026-09-16 23:19:17,629][root][INFO] - initializing, .... +[2026-09-16 23:19:17,629][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 +[2026-09-16 23:19:17,629][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 +[2026-09-16 23:19:17,630][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:19:17,630][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:19:17,630][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:19:17,630][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:19:17,630][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:19:17,630][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:19:17,630][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:19:17,630][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:19:17,630][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:19:17,630][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:19:17,630][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:19:17,630][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 +[2026-09-16 23:19:17,630][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:19:17,641][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:19:17,652][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:17,663][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:19:17,673][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:19:17,684][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:17,695][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:19:17,706][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:19:17,717][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:17,728][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:19:17,739][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:19:17,750][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:17,761][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:19:17,771][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:19:17,782][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:17,793][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:19:17,804][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:19:17,814][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:17,825][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:19:17,836][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:19:17,847][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:19:17,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:19:17,858][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:19:17,858][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 +[2026-09-16 23:19:17,858][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:19:17,912][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 +[2026-09-16 23:19:17,965][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 +[2026-09-16 23:19:18,019][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 +[2026-09-16 23:19:18,072][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 +[2026-09-16 23:19:18,126][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 +[2026-09-16 23:19:18,180][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 +[2026-09-16 23:19:18,234][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 +[2026-09-16 23:19:18,234][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) +[2026-09-16 23:19:18,235][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:19:18,292][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:19:18,303][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:19:18,308][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:19:18,316][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:19:18,322][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:19:18,328][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:19:18,333][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:19:18,340][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:19:18,346][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=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:19:18,346][root][INFO] - current_pos: [-0.03032730601968403, -0.0013351644159609322, 0.0005722133211261138, 0.009346150911726525, -0.11997405966277519, 0.10967421988250514, 0.002861066605630569] +[2026-09-16 23:19:18,346][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:19:18,346][root][INFO] - starting separate thread for control loop +[2026-09-16 23:19:18,447][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.02051282051282044, pos=-0.02994583047226307, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789571958.4473126), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1789571958.4473126), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789571958.4473126), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.009346150911726525, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789571958.4473126), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.11997405966277519, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789571958.4473126), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.10967421988250514, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789571958.4473126), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.002861066605630569, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789571958.4473126)] +[2026-09-16 23:19:18,447][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:19:18,447][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0029 +[2026-09-16 23:19:18,447][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:19:19,063][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-16 23:19:19,363][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:19:19,976][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:19:20,276][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.260738536659801, -0.010872053101396162) +[2026-09-16 23:19:20,277][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26073854 -0.01087205] +[2026-09-16 23:19:20,401][root][INFO] - initializing, .... +[2026-09-16 23:19:27,633][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.96 Hz +[2026-09-16 23:19:30,406][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.13 Hz +[2026-09-16 23:19:37,638][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.60 Hz +[2026-09-16 23:19:40,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.04 Hz +[2026-09-16 23:19:45,433][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.99 iterations per second over 30.00 seconds. +[2026-09-16 23:19:45,433][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003952 s, max step_time: 0.072064 s +[2026-09-16 23:19:47,638][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.96 Hz +[2026-09-16 23:19:48,347][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.49 iterations per second over 30.00 seconds. +[2026-09-16 23:19:48,348][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 15 times, mean step_time: 0.003976 s, max step_time: 0.070510 s +[2026-09-16 23:19:50,411][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.22 Hz +[2026-09-16 23:19:57,639][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 270.07 Hz +[2026-09-16 23:20:00,414][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 269.11 Hz +[2026-09-16 23:20:05,643][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 268.74 iterations per second over 17.30 seconds. +[2026-09-16 23:20:05,650][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.32 iterations per second over 20.22 seconds. +[2026-09-16 23:20:07,140][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:20:07,141][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:20:07,141][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:20:07,141][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:20:07,141][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:20:07,142][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:20:07,142][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:20:07,142][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:20:07,142][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:20:07,143][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:20:07,143][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:20:07,143][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:20:07,143][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:20:07,143][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:20:07,143][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:20:07,143][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} +[2026-09-16 23:20:07,143][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 +[2026-09-16 23:20:07,144][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 +[2026-09-16 23:20:07,144][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:20:07,144][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:20:07,144][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:20:07,144][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:20:07,144][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:20:07,144][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:20:07,144][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:20:07,144][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:20:07,144][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:20:07,144][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:20:07,144][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:20:07,144][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 +[2026-09-16 23:20:07,145][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:20:07,156][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:20:07,167][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:20:07,178][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:20:07,190][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:20:07,201][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:07,212][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:20:07,223][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:20:07,234][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:07,245][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:20:07,256][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:20:07,267][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:07,278][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:20:07,289][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:20:07,300][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:07,311][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:20:07,322][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:20:07,332][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:07,344][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:20:07,354][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:20:07,365][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:07,376][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:20:07,376][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:20:07,376][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 +[2026-09-16 23:20:07,376][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:20:07,430][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 +[2026-09-16 23:20:07,484][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 +[2026-09-16 23:20:07,538][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 +[2026-09-16 23:20:07,592][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 +[2026-09-16 23:20:07,646][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 +[2026-09-16 23:20:07,700][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 +[2026-09-16 23:20:07,754][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 +[2026-09-16 23:20:07,754][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) +[2026-09-16 23:20:07,754][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:20:07,754][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:20:07,765][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:20:07,769][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:20:07,777][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:20:07,783][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:20:07,789][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:20:07,795][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:20:07,801][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:20:07,807][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=-0.03418803418803407, 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=-0.017094017094017033, 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)] +[2026-09-16 23:20:07,807][root][INFO] - current_pos: [0.0024795910582131597, -0.0001907377737087046, 0.0013351644159609322, 0.0013351644159609322, 0.037575341420614805, -0.056267643244067855, 0.022697795071335847] +[2026-09-16 23:20:07,807][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:20:07,807][root][INFO] - starting separate thread for control loop +[2026-09-16 23:20:07,908][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.0024795910582131597, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789572007.9083443), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0001907377737087046, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789572007.9083443), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=0.0017166399633783413, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789572007.9083443), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=35.0, temp_rotor=39.0, timestamp=1789572007.9083443), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=0.037575341420614805, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789572007.9083443), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.056267643244067855, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789572007.9083443), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.022697795071335847, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789572007.9083443)] +[2026-09-16 23:20:07,908][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:20:07,908][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0227 +[2026-09-16 23:20:07,908][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:20:08,582][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:20:08,882][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:20:09,510][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:20:09,810][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.280956740672924, -0.007057297627218517) +[2026-09-16 23:20:09,810][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28095674 -0.0070573 ] +[2026-09-16 23:20:10,045][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 +[2026-09-16 23:20:10,046][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 +[2026-09-16 23:20:10,046][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:20:10,046][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:20:10,046][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:20:10,046][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:20:10,046][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:20:10,046][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:20:10,046][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:20:10,046][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:20:10,046][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:20:10,046][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:20:10,046][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:20:10,046][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 +[2026-09-16 23:20:10,046][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:20:10,048][root][INFO] - initializing, .... +[2026-09-16 23:20:10,057][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:20:10,068][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:10,079][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:20:10,089][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:20:10,100][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:10,111][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:20:10,121][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:20:10,132][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:10,143][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:20:10,153][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:20:10,164][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:10,175][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:20:10,186][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:20:10,196][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:10,207][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:20:10,218][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:20:10,229][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:10,239][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:20:10,250][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:20:10,261][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:20:10,272][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:20:10,272][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:20:10,272][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 +[2026-09-16 23:20:10,272][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:20:10,326][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 +[2026-09-16 23:20:10,380][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 +[2026-09-16 23:20:10,433][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 +[2026-09-16 23:20:10,487][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 +[2026-09-16 23:20:10,541][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 +[2026-09-16 23:20:10,594][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 +[2026-09-16 23:20:10,648][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 +[2026-09-16 23:20:10,648][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) +[2026-09-16 23:20:10,649][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:20:10,649][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:20:10,659][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:20:10,664][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:20:10,670][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:20:10,676][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:20:10,682][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:20:10,690][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:20:10,696][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:20:10,702][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:20:10,702][root][INFO] - current_pos: [0.037956816968032214, -0.0013351644159609322, 0.000953688868543523, 0.0005722133211261138, -0.004386968795300206, -0.029182879377431803, -0.0017166399633783413] +[2026-09-16 23:20:10,702][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:20:10,702][root][INFO] - starting separate thread for control loop +[2026-09-16 23:20:10,803][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=0.02051282051282044, pos=0.037956816968032214, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789572010.8029718), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1789572010.8029718), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789572010.8029718), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789572010.8029718), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.004386968795300206, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789572010.8029718), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.029182879377431803, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789572010.8029718), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.0017166399633783413, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789572010.8029718)] +[2026-09-16 23:20:10,803][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:20:10,803][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0017 +[2026-09-16 23:20:10,803][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:20:11,465][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-16 23:20:11,766][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:20:12,435][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:20:12,735][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.270656900892654, -0.010872053101396162) +[2026-09-16 23:20:12,735][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.2706569 -0.01087205] +[2026-09-16 23:20:12,869][root][INFO] - initializing, .... +[2026-09-16 23:20:20,048][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.69 Hz +[2026-09-16 23:20:22,871][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.96 Hz +[2026-09-16 23:20:30,051][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.94 Hz +[2026-09-16 23:20:32,874][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.21 Hz +[2026-09-16 23:20:37,809][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.32 iterations per second over 30.00 seconds. +[2026-09-16 23:20:37,810][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003979 s, max step_time: 0.076563 s +[2026-09-16 23:20:40,053][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.34 Hz +[2026-09-16 23:20:40,705][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.11 iterations per second over 30.00 seconds. +[2026-09-16 23:20:40,705][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.004046 s, max step_time: 0.072623 s +[2026-09-16 23:20:42,877][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.65 Hz +[2026-09-16 23:20:50,058][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.09 Hz +[2026-09-16 23:20:52,877][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.38 Hz +[2026-09-16 23:20:56,101][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.29 iterations per second over 15.40 seconds. +[2026-09-16 23:20:56,108][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.15 iterations per second over 18.30 seconds. +[2026-09-16 23:21:00,292][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 23:21:00,293][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 23:21:00,293][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 23:21:00,293][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 23:21:00,293][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 23:21:00,293][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 23:21:00,293][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 23:21:00,293][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 23:21:00,293][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 23:21:00,294][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 23:21:00,294][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 23:21:00,294][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 23:21:00,294][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 23:21:00,294][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 23:21:00,294][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 23:21:00,294][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} +[2026-09-16 23:21:00,296][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 +[2026-09-16 23:21:00,296][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 +[2026-09-16 23:21:00,296][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:21:00,296][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:21:00,296][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:21:00,296][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:21:00,296][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:21:00,296][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:21:00,296][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:21:00,296][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:21:00,296][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:21:00,296][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:21:00,296][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 23:21:00,296][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 +[2026-09-16 23:21:00,297][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:21:00,308][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:21:00,319][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 23:21:00,330][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:21:00,342][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:21:00,353][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:00,364][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:21:00,375][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:21:00,386][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:00,397][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:21:00,408][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:21:00,419][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:00,430][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:21:00,441][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:21:00,452][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:00,463][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:21:00,474][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:21:00,485][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:00,496][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:21:00,507][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:21:00,518][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:00,529][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:21:00,529][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 23:21:00,529][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 +[2026-09-16 23:21:00,530][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:21:00,586][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 +[2026-09-16 23:21:00,641][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 +[2026-09-16 23:21:00,696][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 +[2026-09-16 23:21:00,750][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 +[2026-09-16 23:21:00,804][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 +[2026-09-16 23:21:00,858][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 +[2026-09-16 23:21:00,913][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 +[2026-09-16 23:21:00,913][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) +[2026-09-16 23:21:00,913][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:21:00,913][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:21:00,924][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:21:00,929][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:21:00,935][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:21:00,941][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:21:00,948][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:21:00,953][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:21:00,960][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:21:00,966][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=-0.017094017094017033, 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)] +[2026-09-16 23:21:00,966][root][INFO] - current_pos: [-0.01621271076523989, -0.000953688868543523, 0.0024795910582131597, 0.026894026092927348, -0.37670710307469335, 0.3545815213244836, -0.000953688868543523] +[2026-09-16 23:21:00,966][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:21:00,966][root][INFO] - starting separate thread for control loop +[2026-09-16 23:21:01,067][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.026862026862026767, eff=-0.02051282051282044, pos=-0.01621271076523989, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789572061.0672534), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789572061.0672534), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=-0.02051282051282044, pos=0.0024795910582131597, voltage=-1, temp_mos=34.0, temp_rotor=38.0, timestamp=1789572061.0672534), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0219780219780219, pos=0.026894026092927348, voltage=-1, temp_mos=35.0, temp_rotor=39.0, timestamp=1789572061.0672534), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.37670710307469335, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789572061.0672534), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=0.3545815213244836, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789572061.0672534), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.000953688868543523, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789572061.0672534)] +[2026-09-16 23:21:01,067][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:21:01,067][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0010 +[2026-09-16 23:21:01,067][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:21:01,739][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 23:21:02,040][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:21:02,672][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 23:21:02,973][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.288586251621272, -0.007057297627218517) +[2026-09-16 23:21:02,973][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.28858625 -0.0070573 ] +[2026-09-16 23:21:03,215][root][INFO] - initializing, .... +[2026-09-16 23:21:03,216][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 +[2026-09-16 23:21:03,216][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 +[2026-09-16 23:21:03,216][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 23:21:03,216][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 23:21:03,216][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 23:21:03,216][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 23:21:03,216][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 23:21:03,216][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 23:21:03,216][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 23:21:03,216][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 23:21:03,216][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 23:21:03,216][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 23:21:03,216][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 23:21:03,216][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 +[2026-09-16 23:21:03,216][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:21:03,227][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 23:21:03,238][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:03,249][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:21:03,260][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 23:21:03,271][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:03,282][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:21:03,293][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 23:21:03,304][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:03,315][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 23:21:03,325][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 23:21:03,336][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:03,347][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:21:03,358][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 23:21:03,368][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:03,379][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:21:03,390][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 23:21:03,401][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:03,411][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:21:03,422][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 23:21:03,433][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 23:21:03,443][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 23:21:03,444][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 23:21:03,444][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 +[2026-09-16 23:21:03,444][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:21:03,498][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 +[2026-09-16 23:21:03,551][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 +[2026-09-16 23:21:03,605][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 +[2026-09-16 23:21:03,659][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 +[2026-09-16 23:21:03,712][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 +[2026-09-16 23:21:03,768][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 +[2026-09-16 23:21:03,822][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 +[2026-09-16 23:21:03,822][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) +[2026-09-16 23:21:03,822][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 23:21:03,822][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 23:21:03,834][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 23:21:03,839][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 23:21:03,845][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 23:21:03,851][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 23:21:03,857][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 23:21:03,863][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 23:21:03,869][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 23:21:03,875][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 23:21:03,876][root][INFO] - current_pos: [-0.008583199816891707, -0.000953688868543523, 0.0005722133211261138, 0.000953688868543523, -0.022697795071335847, 0.008201724269474298, -0.0040054932478827965] +[2026-09-16 23:21:03,876][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 23:21:03,876][root][INFO] - starting separate thread for control loop +[2026-09-16 23:21:03,976][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=-0.008583199816891707, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789572063.9764116), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.06153846153846132, pos=-0.0013351644159644849, voltage=-1, temp_mos=32.0, temp_rotor=33.0, timestamp=1789572063.9764116), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.017094017094017033, eff=0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789572063.9764116), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789572063.9764116), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.022697795071335847, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789572063.9764116), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.008583199816891707, voltage=-1, temp_mos=31.0, temp_rotor=29.0, timestamp=1789572063.9764116), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.0040054932478827965, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789572063.9764116)] +[2026-09-16 23:21:03,976][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 23:21:03,976][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0040 +[2026-09-16 23:21:03,976][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 23:21:04,590][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2527 +[2026-09-16 23:21:04,890][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 23:21:05,507][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 23:21:05,807][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.260738536659801, -0.01087205310139261) +[2026-09-16 23:21:05,807][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26073854 -0.01087205] +[2026-09-16 23:21:05,934][root][INFO] - initializing, .... +[2026-09-16 23:21:13,220][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.05 Hz +[2026-09-16 23:21:15,938][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.02 Hz +[2026-09-16 23:21:23,223][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.79 Hz +[2026-09-16 23:21:25,939][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.76 Hz +[2026-09-16 23:21:30,971][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.73 iterations per second over 30.00 seconds. +[2026-09-16 23:21:30,971][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 22 times, mean step_time: 0.003972 s, max step_time: 0.067986 s +[2026-09-16 23:21:33,225][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.36 Hz +[2026-09-16 23:21:33,877][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.56 iterations per second over 30.00 seconds. +[2026-09-16 23:21:33,877][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004039 s, max step_time: 0.073147 s +[2026-09-16 23:21:35,945][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.48 Hz +[2026-09-16 23:21:43,228][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.85 Hz +[2026-09-16 23:21:43,469][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] +[2026-09-16 23:21:43,469][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] +[2026-09-16 23:21:45,946][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.56 Hz +[2026-09-16 23:21:53,230][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.75 Hz +[2026-09-16 23:21:55,948][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.61 Hz +[2026-09-16 23:22:00,973][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.85 iterations per second over 30.00 seconds. +[2026-09-16 23:22:00,973][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003955 s, max step_time: 0.021880 s +[2026-09-16 23:22:03,232][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.03 Hz +[2026-09-16 23:22:03,880][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.00 iterations per second over 30.00 seconds. +[2026-09-16 23:22:03,880][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003968 s, max step_time: 0.029986 s +[2026-09-16 23:22:05,949][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.50 Hz +[2026-09-16 23:22:13,235][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.86 Hz +[2026-09-16 23:22:15,953][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.02 Hz +[2026-09-16 23:22:23,237][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.03 Hz +[2026-09-16 23:22:25,955][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.06 Hz +[2026-09-16 23:22:26,556][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] +[2026-09-16 23:22:26,556][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] +[2026-09-16 23:22:30,974][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.49 iterations per second over 30.00 seconds. +[2026-09-16 23:22:30,974][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004024 s, max step_time: 0.049726 s +[2026-09-16 23:22:33,238][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 +[2026-09-16 23:22:33,882][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.08 iterations per second over 30.00 seconds. +[2026-09-16 23:22:33,882][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003999 s, max step_time: 0.044524 s +[2026-09-16 23:22:35,955][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 +[2026-09-16 23:22:43,240][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.36 Hz +[2026-09-16 23:22:45,957][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.86 Hz +[2026-09-16 23:22:53,241][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.86 Hz +[2026-09-16 23:22:55,957][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.08 Hz +[2026-09-16 23:23:00,975][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.13 iterations per second over 30.00 seconds. +[2026-09-16 23:23:00,975][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003966 s, max step_time: 0.008919 s +[2026-09-16 23:23:03,242][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.38 Hz +[2026-09-16 23:23:03,883][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.16 iterations per second over 30.00 seconds. +[2026-09-16 23:23:03,884][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003998 s, max step_time: 0.008692 s +[2026-09-16 23:23:05,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.83 Hz +[2026-09-16 23:23:10,196][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] +[2026-09-16 23:23:10,196][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] +[2026-09-16 23:23:13,243][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.77 Hz +[2026-09-16 23:23:15,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.98 Hz +[2026-09-16 23:23:23,244][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 264.78 Hz +[2026-09-16 23:23:25,966][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 +[2026-09-16 23:23:30,975][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.33 iterations per second over 30.00 seconds. +[2026-09-16 23:23:30,976][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003886 s, max step_time: 0.030351 s +[2026-09-16 23:23:33,246][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.55 Hz +[2026-09-16 23:23:33,887][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.80 iterations per second over 30.00 seconds. +[2026-09-16 23:23:33,887][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003879 s, max step_time: 0.032374 s +[2026-09-16 23:23:35,968][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.50 Hz +[2026-09-16 23:23:37,142][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.35 iterations per second over 3.26 seconds. +[2026-09-16 23:23:37,148][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.17 iterations per second over 6.17 seconds. diff --git a/eval/YAM/V2/dp/banana_handoff/metadata/runtime/output.lock b/eval/YAM/V2/dp/banana_handoff/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/workflow_manifest.json b/eval/YAM/V2/dp/banana_pick/data/round_0001/workflow_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..71764f3415c3c4e371255dc9f2f760217fe0ff67 --- /dev/null +++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/workflow_manifest.json @@ -0,0 +1,604 @@ +{ + "acceleration_limits": [ + 178.113964503, + 247.518197236, + 201.062710341, + 412.295997642, + 292.886498339, + 681.801119417, + 164.113917278, + 267.740085544, + 714.966739645, + 836.862131179, + 880.771530315, + 543.256770374, + 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b/eval/YAM/V2/dp/flip_bread/metadata/hydra/.hydra/config.yaml @@ -0,0 +1,244 @@ +ros: + localhost_only: true +run: + id: ${now:%Y%m%d_%H%M%S_%f} + output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread + steps: 30 + wait_ready_timeout_s: 30.0 + runtime_dir: ${run.output_dir}/metadata/runtime + action_steps: 32 + prediction_horizon: 32 +policy: + host: 127.0.0.1 + port: 9016 + prompt: flip_bread + action_hz: 30.0 + slop_ms: 20.0 + observation_wait_timeout_s: 1.0 + max_observation_age_s: 0.5 + connect_timeout_s: 10.0 + response_timeout_s: 5.0 + task: flip_bread + expected_checkpoint_path: /home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/flip_bread/best-short.pt + history_tolerance_s: 0.015 + model: dp +data: + history: 64 + bridge: + enabled: true + name: openpi_observe_${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: + - 178.113964503 + - 247.518197236 + - 201.062710341 + - 412.295997642 + - 292.886498339 + - 681.801119417 + - 164.113917278 + - 267.740085544 + - 714.966739645 + - 836.862131179 + - 880.771530315 + - 543.256770374 + - 313.320489803 + - 313.35155152 + 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: false + prefetch_steps: 12 + blend_steps: 5 +execution: + hold_settle_s: 0.2 + hold_settle_timeout_s: 5.0 + max_prediction_age_s: 1.5 + max_schedule_lateness_s: 0.105 + command_ack_timeout_s: 0.1 + sync_wait_after_ack: true +hardware: + name: openpi_hardware + mode: owned + sensors: auto + streams: auto +preview: + enabled: true + mode: local + ui_mode: openpi + window: YAM V2 dp flip_bread - sync + 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/dp/flip_bread/metadata/hydra/.hydra/hydra.yaml b/eval/YAM/V2/dp/flip_bread/metadata/hydra/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5600385b74212f5c1ab7e1ceed7acd622209447b --- /dev/null +++ b/eval/YAM/V2/dp/flip_bread/metadata/hydra/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: ${run.output_dir}/metadata/hydra + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - execute=true + - policy.model=dp + - policy.task=flip_bread + - policy.prompt=flip_bread + - policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/flip_bread/best-short.pt + - run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread + - async_inference.enabled=false + - preview.window=YAM V2 dp flip_bread - sync + job: + name: rollout + chdir: false + override_dirname: async_inference.enabled=false,execute=true,policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/flip_bread/best-short.pt,policy.model=dp,policy.prompt=flip_bread,policy.task=flip_bread,preview.window=YAM + V2 dp flip_bread - sync,run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread + id: ??? + num: ??? + config_name: yam_v2 + 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/yam_v2/dp/best-short/flip_bread/metadata/hydra + choices: + robot: yam_policy + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/eval/YAM/V2/dp/flip_bread/metadata/hydra/.hydra/overrides.yaml b/eval/YAM/V2/dp/flip_bread/metadata/hydra/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fd71efd568dc539f17e76fe94dbc05184541a9c0 --- /dev/null +++ b/eval/YAM/V2/dp/flip_bread/metadata/hydra/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- execute=true +- policy.model=dp +- policy.task=flip_bread +- policy.prompt=flip_bread +- policy.expected_checkpoint_path=/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/flip_bread/best-short.pt +- run.output_dir=/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread +- async_inference.enabled=false +- preview.window=YAM V2 dp flip_bread - sync diff --git a/eval/YAM/V2/dp/flip_bread/metadata/hydra/rollout.log b/eval/YAM/V2/dp/flip_bread/metadata/hydra/rollout.log new file mode 100644 index 0000000000000000000000000000000000000000..f2167e1e26f3237f39091f9faef7b061b4549b97 --- /dev/null +++ b/eval/YAM/V2/dp/flip_bread/metadata/hydra/rollout.log @@ -0,0 +1,1540 @@ +[2026-09-16 22:17:17,457][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 22:17:17,458][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 22:17:17,459][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 22:17:17,459][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 22:17:17,459][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 22:17:17,459][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 22:17:17,459][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 22:17:17,459][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 22:17:17,459][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 22:17:17,460][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 22:17:17,460][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 22:17:17,460][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 22:17:17,460][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 22:17:17,460][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 22:17:17,460][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 22:17:17,460][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} +[2026-09-16 22:17:17,461][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 +[2026-09-16 22:17:17,461][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 +[2026-09-16 22:17:17,461][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:17:17,461][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:17:17,461][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:17:17,461][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:17:17,461][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:17:17,461][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:17:17,461][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:17:17,461][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:17:17,461][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:17:17,461][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:17:17,461][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 22:17:17,461][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 +[2026-09-16 22:17:17,462][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:17:17,473][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:17:17,484][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 22:17:17,495][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:17:17,506][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:17:17,517][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:17,528][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:17:17,539][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:17:17,550][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:17,561][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:17:17,572][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:17:17,583][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:17,594][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:17:17,605][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:17:17,616][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:17,627][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:17:17,638][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:17:17,649][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:17,660][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:17:17,671][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:17:17,682][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:17,692][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:17:17,693][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 22:17:17,693][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 +[2026-09-16 22:17:17,693][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:17:17,747][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 +[2026-09-16 22:17:17,801][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 +[2026-09-16 22:17:17,855][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 +[2026-09-16 22:17:17,909][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 +[2026-09-16 22:17:17,963][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 +[2026-09-16 22:17:18,016][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 +[2026-09-16 22:17:18,070][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 +[2026-09-16 22:17:18,070][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) +[2026-09-16 22:17:18,070][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:17:18,070][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:17:18,081][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:17:18,086][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:17:18,092][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:17:18,098][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:17:18,104][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:17:18,110][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:17:18,116][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:17:18,122][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=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 22:17:18,122][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0017166399633783413, 0.0005722133211261138, -0.005912870984969842, -0.03032730601968403, 0.06847486076142495] +[2026-09-16 22:17:18,122][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:17:18,122][root][INFO] - starting separate thread for control loop +[2026-09-16 22:17:18,223][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=-0.0040054932478827965, voltage=-1, temp_mos=27.0, temp_rotor=24.0, timestamp=1789568238.2232463), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789568238.2232463), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.02051282051282044, pos=0.0013351644159609322, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1789568238.2232463), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.0005722133211261138, voltage=-1, temp_mos=32.0, temp_rotor=32.0, timestamp=1789568238.2232463), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.017094017094017033, pos=-0.005912870984969842, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789568238.2232463), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.03032730601968403, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789568238.2232463), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=0.06847486076142495, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789568238.2232463)] +[2026-09-16 22:17:18,223][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:17:18,223][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.0685 +[2026-09-16 22:17:18,223][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:17:18,851][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 22:17:19,151][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:17:19,773][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0067 +[2026-09-16 22:17:20,073][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.006675822079804661) +[2026-09-16 22:17:20,073][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.00667582] +[2026-09-16 22:17:20,304][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 +[2026-09-16 22:17:20,304][i2rt.robots.get_robot][INFO] - Loading joint limits from XML: /home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/gripper/linear_4310/linear_4310.xml +[2026-09-16 22:17:20,304][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:17:20,304][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:17:20,304][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:17:20,304][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:17:20,304][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:17:20,304][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:17:20,304][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:17:20,304][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:17:20,304][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:17:20,304][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:17:20,304][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 22:17:20,304][i2rt.motor_drivers.motor_check][INFO] - checking motor types on can_follower_r: 1 DM4340, 2 DM4340, 3 DM4340, 4 DM4310, 5 DM4310, 6 DM4310, 7 DM4310 +[2026-09-16 22:17:20,305][root][INFO] - initializing, .... +[2026-09-16 22:17:20,305][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:17:20,316][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:17:20,327][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:20,338][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:17:20,349][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:17:20,360][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:20,370][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:17:20,381][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:17:20,392][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:20,403][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:17:20,413][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:17:20,424][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:20,435][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:17:20,446][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:17:20,456][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:20,467][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:17:20,478][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:17:20,489][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:20,500][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:17:20,510][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:17:20,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:17:20,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:17:20,532][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 22:17:20,532][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 +[2026-09-16 22:17:20,532][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:17:20,586][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 +[2026-09-16 22:17:20,639][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 +[2026-09-16 22:17:20,693][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 +[2026-09-16 22:17:20,746][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 +[2026-09-16 22:17:20,800][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 +[2026-09-16 22:17:20,853][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 +[2026-09-16 22:17:20,907][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 +[2026-09-16 22:17:20,907][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) +[2026-09-16 22:17:20,907][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:17:20,908][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:17:20,919][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:17:20,924][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:17:20,930][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:17:20,936][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:17:20,942][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:17:20,949][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:17:20,955][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:17:20,961][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 22:17:20,961][root][INFO] - current_pos: [-0.0001907377737087046, -0.0013351644159609322, 0.0005722133211261138, 0.002861066605630569, -0.04520485236896299, 0.02651255054550994, 1.2106126497291516] +[2026-09-16 22:17:20,961][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:17:20,961][root][INFO] - starting separate thread for control loop +[2026-09-16 22:17:21,062][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.0001907377737087046, voltage=-1, temp_mos=26.0, temp_rotor=24.0, timestamp=1789568241.0622096), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=-0.0013351644159609322, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789568241.0622096), 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=30.0, timestamp=1789568241.0622096), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.002861066605630569, voltage=-1, temp_mos=33.0, temp_rotor=32.0, timestamp=1789568241.0622096), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.04520485236896299, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789568241.0622096), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.02651255054550994, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789568241.0622096), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=1.2106126497291516, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789568241.0622096)] +[2026-09-16 22:17:21,062][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:17:21,062][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 1.2106 +[2026-09-16 22:17:21,062][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:17:21,620][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2520 +[2026-09-16 22:17:21,920][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:17:22,526][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 22:17:22,826][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.302319371328299, -0.010490577553978753) +[2026-09-16 22:17:22,826][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.30231937 -0.01049058] +[2026-09-16 22:17:22,953][root][INFO] - initializing, .... +[2026-09-16 22:17:30,309][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.42 Hz +[2026-09-16 22:17:32,957][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.03 Hz +[2026-09-16 22:17:40,310][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.96 Hz +[2026-09-16 22:17:42,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.80 Hz +[2026-09-16 22:17:48,123][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.09 iterations per second over 30.00 seconds. +[2026-09-16 22:17:48,124][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003982 s, max step_time: 0.070230 s +[2026-09-16 22:17:50,314][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.13 Hz +[2026-09-16 22:17:50,963][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.49 iterations per second over 30.00 seconds. +[2026-09-16 22:17:50,963][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.004024 s, max step_time: 0.069668 s +[2026-09-16 22:17:52,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.64 Hz +[2026-09-16 22:18:00,315][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.46 Hz +[2026-09-16 22:18:02,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.93 Hz +[2026-09-16 22:18:10,318][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.54 Hz +[2026-09-16 22:18:12,966][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.81 Hz +[2026-09-16 22:18:18,127][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.64 iterations per second over 30.00 seconds. +[2026-09-16 22:18:18,128][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004006 s, max step_time: 0.042016 s +[2026-09-16 22:18:19,035][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] +[2026-09-16 22:18:19,035][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] +[2026-09-16 22:18:20,321][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.41 Hz +[2026-09-16 22:18:20,965][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.72 iterations per second over 30.00 seconds. +[2026-09-16 22:18:20,965][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003973 s, max step_time: 0.040467 s +[2026-09-16 22:18:22,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.43 Hz +[2026-09-16 22:18:30,322][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.28 Hz +[2026-09-16 22:18:32,970][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 263.58 Hz +[2026-09-16 22:18:40,323][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.17 Hz +[2026-09-16 22:18:42,972][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.84 Hz +[2026-09-16 22:18:48,129][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 260.29 iterations per second over 30.00 seconds. +[2026-09-16 22:18:48,129][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: 0.010320 s +[2026-09-16 22:18:50,326][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.12 Hz +[2026-09-16 22:18:50,965][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.67 iterations per second over 30.00 seconds. +[2026-09-16 22:18:50,966][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003851 s, max step_time: 0.009112 s +[2026-09-16 22:18:52,975][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.65 Hz +[2026-09-16 22:19:00,327][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.98 Hz +[2026-09-16 22:19:02,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.15 Hz +[2026-09-16 22:19:10,330][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.53 Hz +[2026-09-16 22:19:12,980][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.72 Hz +[2026-09-16 22:19:18,129][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.03 iterations per second over 30.00 seconds. +[2026-09-16 22:19:18,129][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004048 s, max step_time: 0.009080 s +[2026-09-16 22:19:20,332][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.17 Hz +[2026-09-16 22:19:20,966][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.26 iterations per second over 30.00 seconds. +[2026-09-16 22:19:20,969][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004044 s, max step_time: 0.009481 s +[2026-09-16 22:19:22,982][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.76 Hz +[2026-09-16 22:19:30,332][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.89 Hz +[2026-09-16 22:19:32,983][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.65 Hz +[2026-09-16 22:19:37,271][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] +[2026-09-16 22:19:37,271][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] +[2026-09-16 22:19:40,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.38 Hz +[2026-09-16 22:19:42,986][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.73 Hz +[2026-09-16 22:19:48,132][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.27 iterations per second over 30.00 seconds. +[2026-09-16 22:19:48,132][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.003964 s, max step_time: 0.036473 s +[2026-09-16 22:19:50,333][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.77 Hz +[2026-09-16 22:19:50,967][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.06 iterations per second over 30.00 seconds. +[2026-09-16 22:19:50,971][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003936 s, max step_time: 0.068705 s +[2026-09-16 22:19:52,986][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.49 Hz +[2026-09-16 22:20:00,334][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.97 Hz +[2026-09-16 22:20:02,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.78 Hz +[2026-09-16 22:20:10,335][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.29 Hz +[2026-09-16 22:20:12,988][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.19 Hz +[2026-09-16 22:20:18,133][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.86 iterations per second over 30.00 seconds. +[2026-09-16 22:20:18,133][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003939 s, max step_time: 0.010186 s +[2026-09-16 22:20:20,335][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.80 Hz +[2026-09-16 22:20:20,967][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.06 iterations per second over 30.00 seconds. +[2026-09-16 22:20:20,971][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003952 s, max step_time: 0.012076 s +[2026-09-16 22:20:22,991][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.17 Hz +[2026-09-16 22:20:30,339][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.71 Hz +[2026-09-16 22:20:32,993][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.90 Hz +[2026-09-16 22:20:40,340][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.27 Hz +[2026-09-16 22:20:42,996][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.12 Hz +[2026-09-16 22:20:48,133][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.76 iterations per second over 30.00 seconds. +[2026-09-16 22:20:48,133][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004036 s, max step_time: 0.008904 s +[2026-09-16 22:20:50,341][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.17 Hz +[2026-09-16 22:20:50,968][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.42 iterations per second over 30.00 seconds. +[2026-09-16 22:20:50,973][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004025 s, max step_time: 0.010663 s +[2026-09-16 22:20:52,999][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.18 Hz +[2026-09-16 22:21:00,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.65 Hz +[2026-09-16 22:21:01,731][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] +[2026-09-16 22:21:01,731][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] +[2026-09-16 22:21:03,000][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.91 Hz +[2026-09-16 22:21:10,344][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.68 Hz +[2026-09-16 22:21:13,003][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.64 Hz +[2026-09-16 22:21:18,135][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.92 iterations per second over 30.00 seconds. +[2026-09-16 22:21:18,135][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 52 times, mean step_time: 0.003907 s, max step_time: 0.030138 s +[2026-09-16 22:21:20,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.46 Hz +[2026-09-16 22:21:20,972][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.30 iterations per second over 30.00 seconds. +[2026-09-16 22:21:20,973][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 66 times, mean step_time: 0.003887 s, max step_time: 0.029994 s +[2026-09-16 22:21:23,006][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 +[2026-09-16 22:21:30,348][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.63 Hz +[2026-09-16 22:21:33,006][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.19 Hz +[2026-09-16 22:21:40,350][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.24 Hz +[2026-09-16 22:21:43,008][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 +[2026-09-16 22:21:48,138][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.84 iterations per second over 30.00 seconds. +[2026-09-16 22:21:48,139][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003863 s, max step_time: 0.008898 s +[2026-09-16 22:21:50,354][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.07 Hz +[2026-09-16 22:21:50,973][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.53 iterations per second over 30.00 seconds. +[2026-09-16 22:21:50,973][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 50 times, mean step_time: 0.003868 s, max step_time: 0.010145 s +[2026-09-16 22:21:53,011][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.63 Hz +[2026-09-16 22:22:00,358][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.77 Hz +[2026-09-16 22:22:03,014][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.84 Hz +[2026-09-16 22:22:10,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.63 Hz +[2026-09-16 22:22:13,016][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.02 Hz +[2026-09-16 22:22:18,139][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.96 iterations per second over 30.00 seconds. +[2026-09-16 22:22:18,156][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 143 times, mean step_time: 0.004003 s, max step_time: 0.020336 s +[2026-09-16 22:22:20,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.38 Hz +[2026-09-16 22:22:20,976][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.14 iterations per second over 30.00 seconds. +[2026-09-16 22:22:20,976][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 148 times, mean step_time: 0.003998 s, max step_time: 0.012805 s +[2026-09-16 22:22:23,018][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.05 Hz +[2026-09-16 22:22:30,360][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.60 Hz +[2026-09-16 22:22:33,018][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.80 Hz +[2026-09-16 22:22:40,361][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.08 Hz +[2026-09-16 22:22:43,021][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.16 Hz +[2026-09-16 22:22:48,139][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 245.10 iterations per second over 30.00 seconds. +[2026-09-16 22:22:48,159][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 165 times, mean step_time: 0.004078 s, max step_time: 0.063846 s +[2026-09-16 22:22:50,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.29 Hz +[2026-09-16 22:22:50,979][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.64 iterations per second over 30.00 seconds. +[2026-09-16 22:22:50,979][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 143 times, mean step_time: 0.004054 s, max step_time: 0.037081 s +[2026-09-16 22:22:53,021][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.57 Hz +[2026-09-16 22:23:00,363][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.07 Hz +[2026-09-16 22:23:02,277][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] +[2026-09-16 22:23:02,278][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] +[2026-09-16 22:23:03,022][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.59 Hz +[2026-09-16 22:23:10,365][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.44 Hz +[2026-09-16 22:23:13,025][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.10 Hz +[2026-09-16 22:23:18,141][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.78 iterations per second over 30.00 seconds. +[2026-09-16 22:23:18,162][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.003864 s, max step_time: 0.011075 s +[2026-09-16 22:23:20,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.28 Hz +[2026-09-16 22:23:20,982][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.30 iterations per second over 30.00 seconds. +[2026-09-16 22:23:20,982][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 39 times, mean step_time: 0.003856 s, max step_time: 0.009337 s +[2026-09-16 22:23:23,026][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.18 Hz +[2026-09-16 22:23:30,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.53 Hz +[2026-09-16 22:23:33,027][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.08 Hz +[2026-09-16 22:23:40,376][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.71 Hz +[2026-09-16 22:23:43,029][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.97 Hz +[2026-09-16 22:23:48,142][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.53 iterations per second over 30.00 seconds. +[2026-09-16 22:23:48,165][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.003975 s, max step_time: 0.013204 s +[2026-09-16 22:23:50,381][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.31 Hz +[2026-09-16 22:23:50,983][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.93 iterations per second over 30.00 seconds. +[2026-09-16 22:23:50,983][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003985 s, max step_time: 0.013493 s +[2026-09-16 22:23:53,032][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.22 Hz +[2026-09-16 22:24:00,385][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.08 Hz +[2026-09-16 22:24:03,034][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.24 Hz +[2026-09-16 22:24:10,387][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.24 Hz +[2026-09-16 22:24:13,034][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.89 Hz +[2026-09-16 22:24:18,145][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 244.34 iterations per second over 30.00 seconds. +[2026-09-16 22:24:18,168][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.004093 s, max step_time: 0.010019 s +[2026-09-16 22:24:20,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.01 Hz +[2026-09-16 22:24:20,985][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.55 iterations per second over 30.00 seconds. +[2026-09-16 22:24:20,985][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004056 s, max step_time: 0.051370 s +[2026-09-16 22:24:23,038][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.01 Hz +[2026-09-16 22:24:29,516][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] +[2026-09-16 22:24:29,516][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] +[2026-09-16 22:24:30,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.10 Hz +[2026-09-16 22:24:33,038][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.28 Hz +[2026-09-16 22:24:40,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.30 Hz +[2026-09-16 22:24:43,040][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.48 Hz +[2026-09-16 22:24:48,147][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.01 iterations per second over 30.00 seconds. +[2026-09-16 22:24:48,168][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003891 s, max step_time: 0.027438 s +[2026-09-16 22:24:50,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.36 Hz +[2026-09-16 22:24:50,988][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.51 iterations per second over 30.00 seconds. +[2026-09-16 22:24:50,988][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003899 s, max step_time: 0.010116 s +[2026-09-16 22:24:53,043][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.13 Hz +[2026-09-16 22:25:00,398][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.58 Hz +[2026-09-16 22:25:03,043][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.75 Hz +[2026-09-16 22:25:10,401][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.12 Hz +[2026-09-16 22:25:13,046][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.35 Hz +[2026-09-16 22:25:18,148][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.96 iterations per second over 30.00 seconds. +[2026-09-16 22:25:18,174][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.004033 s, max step_time: 0.008483 s +[2026-09-16 22:25:20,403][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.95 Hz +[2026-09-16 22:25:20,991][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.77 iterations per second over 30.00 seconds. +[2026-09-16 22:25:20,991][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.004020 s, max step_time: 0.023959 s +[2026-09-16 22:25:23,047][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.68 Hz +[2026-09-16 22:25:30,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.33 Hz +[2026-09-16 22:25:33,049][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.85 Hz +[2026-09-16 22:25:40,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.50 Hz +[2026-09-16 22:25:43,050][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.87 Hz +[2026-09-16 22:25:48,150][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.91 iterations per second over 30.00 seconds. +[2026-09-16 22:25:48,175][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003877 s, max step_time: 0.019709 s +[2026-09-16 22:25:49,354][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.03 iterations per second over 28.36 seconds. +[2026-09-16 22:25:49,360][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 269.54 iterations per second over 1.21 seconds. +[2026-09-16 22:25:57,808][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 22:25:57,809][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 22:25:57,809][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 22:25:57,809][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 22:25:57,809][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 22:25:57,810][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 22:25:57,810][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 22:25:57,810][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 22:25:57,810][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 22:25:57,811][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 22:25:57,811][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 22:25:57,811][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 22:25:57,811][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 22:25:57,811][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 22:25:57,811][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 22:25:57,811][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} +[2026-09-16 22:25:57,811][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 +[2026-09-16 22:25:57,812][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 +[2026-09-16 22:25:57,812][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:25:57,812][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:25:57,812][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:25:57,812][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:25:57,812][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:25:57,812][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:25:57,812][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:25:57,812][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:25:57,812][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:25:57,812][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:25:57,812][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 22:25:57,812][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 +[2026-09-16 22:25:57,813][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:25:57,824][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:25:57,835][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 22:25:57,846][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:25:57,857][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:25:57,868][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:25:57,879][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:25:57,890][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:25:57,902][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:25:57,913][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:25:57,924][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:25:57,935][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:25:57,946][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:25:57,957][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:25:57,968][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:25:57,979][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:25:57,990][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:25:58,001][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:25:58,012][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:25:58,023][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:25:58,034][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:25:58,045][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:25:58,045][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 22:25:58,045][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 +[2026-09-16 22:25:58,046][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:25:58,101][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 +[2026-09-16 22:25:58,156][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 +[2026-09-16 22:25:58,211][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 +[2026-09-16 22:25:58,266][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 +[2026-09-16 22:25:58,322][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 +[2026-09-16 22:25:58,377][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 +[2026-09-16 22:25:58,432][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 +[2026-09-16 22:25:58,432][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) +[2026-09-16 22:25:58,433][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:25:58,433][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:25:58,444][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:25:58,449][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:25:58,456][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:25:58,462][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:25:58,468][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:25:58,475][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:25:58,481][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:25:58,488][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=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 22:25:58,488][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0013351644159609322, 0.0040054932478827965, -0.04367895017929335, -0.042153047989623715, -0.0020981155107957505] +[2026-09-16 22:25:58,488][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:25:58,488][root][INFO] - starting separate thread for control loop +[2026-09-16 22:25:58,589][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=-0.0040054932478827965, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789568758.5892935), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789568758.5892935), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0013351644159609322, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789568758.5892935), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0040054932478827965, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789568758.5892935), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.04367895017929335, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789568758.5892935), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.042153047989623715, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789568758.5892935), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.0020981155107957505, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789568758.5892935)] +[2026-09-16 22:25:58,589][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:25:58,589][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0021 +[2026-09-16 22:25:58,589][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:25:59,218][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 22:25:59,518][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:26:00,148][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 22:26:00,448][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.007057297627218517) +[2026-09-16 22:26:00,448][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 22:26:00,690][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 +[2026-09-16 22:26:00,690][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 +[2026-09-16 22:26:00,690][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:26:00,690][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:26:00,690][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:26:00,690][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:26:00,690][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:26:00,690][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:26:00,690][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:26:00,690][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:26:00,690][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:26:00,690][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:26:00,690][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 22:26:00,690][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 +[2026-09-16 22:26:00,690][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:26:00,691][root][INFO] - initializing, .... +[2026-09-16 22:26:00,701][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:26:00,712][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:26:00,723][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:26:00,735][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:26:00,746][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:26:00,756][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:26:00,767][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:26:00,778][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:26:00,789][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:26:00,799][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:26:00,810][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:26:00,821][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:26:00,832][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:26:00,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:26:00,853][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:26:00,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:26:00,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:26:00,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:26:00,896][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:26:00,907][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:26:00,918][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:26:00,918][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 22:26:00,918][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 +[2026-09-16 22:26:00,918][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:26:00,972][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 +[2026-09-16 22:26:01,027][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 +[2026-09-16 22:26:01,080][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 +[2026-09-16 22:26:01,134][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 +[2026-09-16 22:26:01,188][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 +[2026-09-16 22:26:01,241][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 +[2026-09-16 22:26:01,295][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 +[2026-09-16 22:26:01,295][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) +[2026-09-16 22:26:01,295][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:26:01,295][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:26:01,306][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:26:01,311][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:26:01,319][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:26:01,325][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:26:01,331][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:26:01,337][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:26:01,343][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:26:01,349][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=-0.0073260073260073, 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)] +[2026-09-16 22:26:01,349][root][INFO] - current_pos: [-0.005912870984969842, -0.0013351644159609322, 0.0005722133211261138, 0.0013351644159609322, -0.046349279011215216, 0.015449759670405072, 4.655718318455786] +[2026-09-16 22:26:01,349][root][INFO] - motor 6 pos=4.656, offset +2Ï€ +[2026-09-16 22:26:01,349][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.283185307179586] +[2026-09-16 22:26:01,349][root][INFO] - starting separate thread for control loop +[2026-09-16 22:26:01,449][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.03418803418803407, pos=-0.005912870984969842, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789568761.4497983), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.04786324786324769, pos=-0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=30.0, timestamp=1789568761.4497983), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=32.0, timestamp=1789568761.4497983), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0013351644159609322, voltage=-1, temp_mos=34.0, temp_rotor=35.0, timestamp=1789568761.4497983), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.046349279011215216, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789568761.4497983), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.015449759670405072, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789568761.4497983), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=0.0024420024420024333, pos=-1.6274669887237998, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789568761.4497983)] +[2026-09-16 22:26:01,449][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:26:01,450][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -1.6275 +[2026-09-16 22:26:01,450][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:26:01,809][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-1.0320 +[2026-09-16 22:26:02,110][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:26:02,717][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-6.2937 +[2026-09-16 22:26:03,017][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (-1.0304577570155509, -6.294820311375817) +[2026-09-16 22:26:03,018][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [-1.03045776 -6.29482031] +[2026-09-16 22:26:03,150][root][INFO] - initializing, .... +[2026-09-16 22:26:10,696][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.61 Hz +[2026-09-16 22:26:13,157][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 242.57 Hz +[2026-09-16 22:26:20,698][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 243.03 Hz +[2026-09-16 22:26:23,156][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.40 Hz +[2026-09-16 22:26:28,493][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.60 iterations per second over 30.00 seconds. +[2026-09-16 22:26:28,493][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 36 times, mean step_time: 0.004006 s, max step_time: 0.074492 s +[2026-09-16 22:26:30,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.18 Hz +[2026-09-16 22:26:31,351][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.91 iterations per second over 30.00 seconds. +[2026-09-16 22:26:31,352][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 30 times, mean step_time: 0.004049 s, max step_time: 0.072746 s +[2026-09-16 22:26:33,160][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.92 Hz +[2026-09-16 22:26:40,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.24 Hz +[2026-09-16 22:26:43,161][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.27 Hz +[2026-09-16 22:26:50,702][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.60 Hz +[2026-09-16 22:26:53,164][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.42 Hz +[2026-09-16 22:26:58,495][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.58 iterations per second over 30.00 seconds. +[2026-09-16 22:26:58,495][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.004023 s, max step_time: 0.038510 s +[2026-09-16 22:27:00,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.65 Hz +[2026-09-16 22:27:01,355][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.17 iterations per second over 30.00 seconds. +[2026-09-16 22:27:01,355][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003997 s, max step_time: 0.073144 s +[2026-09-16 22:27:03,165][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 264.38 Hz +[2026-09-16 22:27:04,320][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] +[2026-09-16 22:27:04,321][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] +[2026-09-16 22:27:10,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.50 Hz +[2026-09-16 22:27:13,169][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 261.71 Hz +[2026-09-16 22:27:20,706][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.59 Hz +[2026-09-16 22:27:23,173][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.16 Hz +[2026-09-16 22:27:28,496][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 258.69 iterations per second over 30.00 seconds. +[2026-09-16 22:27:28,496][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003866 s, max step_time: 0.011828 s +[2026-09-16 22:27:30,707][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.64 Hz +[2026-09-16 22:27:31,358][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.30 iterations per second over 30.00 seconds. +[2026-09-16 22:27:31,359][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003871 s, max step_time: 0.013876 s +[2026-09-16 22:27:33,177][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.32 Hz +[2026-09-16 22:27:40,710][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.93 Hz +[2026-09-16 22:27:43,176][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.69 Hz +[2026-09-16 22:27:50,711][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.27 Hz +[2026-09-16 22:27:53,180][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.01 Hz +[2026-09-16 22:27:58,498][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 259.92 iterations per second over 30.00 seconds. +[2026-09-16 22:27:58,498][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003847 s, max step_time: 0.007193 s +[2026-09-16 22:28:00,500][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 259.63 iterations per second over 29.14 seconds. +[2026-09-16 22:28:00,508][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.13 iterations per second over 2.01 seconds. +[2026-09-16 22:28:03,766][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 22:28:03,767][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 22:28:03,767][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 22:28:03,767][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 22:28:03,767][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 22:28:03,767][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 22:28:03,767][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 22:28:03,767][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 22:28:03,767][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 22:28:03,768][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 22:28:03,768][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 22:28:03,768][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 22:28:03,768][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 22:28:03,768][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 22:28:03,768][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 22:28:03,768][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} +[2026-09-16 22:28:03,769][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 +[2026-09-16 22:28:03,769][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 +[2026-09-16 22:28:03,769][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:28:03,769][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:28:03,769][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:28:03,769][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:28:03,769][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:28:03,769][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:28:03,769][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:28:03,769][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:28:03,769][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:28:03,769][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:28:03,769][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 22:28:03,769][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 +[2026-09-16 22:28:03,770][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:28:03,782][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:28:03,793][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 22:28:03,804][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:28:03,815][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:28:03,826][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:03,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:28:03,848][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:28:03,859][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:03,870][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:28:03,881][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:28:03,893][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:03,904][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:28:03,915][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:28:03,926][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:03,937][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:28:03,948][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:28:03,959][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:03,970][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:28:03,981][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:28:03,992][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:04,003][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:28:04,003][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 22:28:04,004][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 +[2026-09-16 22:28:04,004][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:28:04,059][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 +[2026-09-16 22:28:04,115][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 +[2026-09-16 22:28:04,170][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 +[2026-09-16 22:28:04,225][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 +[2026-09-16 22:28:04,280][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 +[2026-09-16 22:28:04,334][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 +[2026-09-16 22:28:04,388][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 +[2026-09-16 22:28:04,388][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) +[2026-09-16 22:28:04,389][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:28:04,389][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:28:04,399][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:28:04,405][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:28:04,411][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:28:04,417][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:28:04,423][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:28:04,429][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:28:04,435][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:28:04,441][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.012210012210012167, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 22:28:04,441][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0017166399633783413, 0.003242542153047978, -0.028419928282596985, -0.056267643244067855, -0.0024795910582131597] +[2026-09-16 22:28:04,441][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:28:04,441][root][INFO] - starting separate thread for control loop +[2026-09-16 22:28:04,541][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=-0.0040054932478827965, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789568884.5417776), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789568884.5417776), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1789568884.5417776), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.003242542153047978, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1789568884.5417776), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=-0.028419928282596985, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789568884.5417776), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.056267643244067855, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789568884.5417776), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.0024795910582131597, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789568884.5417776)] +[2026-09-16 22:28:04,542][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:28:04,542][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0025 +[2026-09-16 22:28:04,542][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:28:05,164][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 22:28:05,464][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:28:06,089][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 22:28:06,389][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.00705729762722207) +[2026-09-16 22:28:06,390][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 22:28:06,624][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 +[2026-09-16 22:28:06,624][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 +[2026-09-16 22:28:06,624][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:28:06,624][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:28:06,624][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:28:06,625][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:28:06,625][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:28:06,625][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:28:06,625][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:28:06,625][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:28:06,625][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:28:06,625][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:28:06,625][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 22:28:06,625][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 +[2026-09-16 22:28:06,625][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:28:06,626][root][INFO] - initializing, .... +[2026-09-16 22:28:06,636][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:28:06,647][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:06,658][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:28:06,669][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:28:06,679][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:06,690][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:28:06,701][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:28:06,712][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:06,723][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:28:06,734][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:28:06,745][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:06,756][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:28:06,767][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:28:06,778][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:06,789][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:28:06,800][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:28:06,811][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:06,822][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:28:06,833][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:28:06,843][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:28:06,854][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:28:06,854][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 22:28:06,854][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 +[2026-09-16 22:28:06,855][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:28:06,908][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 +[2026-09-16 22:28:06,962][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 +[2026-09-16 22:28:07,016][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 +[2026-09-16 22:28:07,070][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 +[2026-09-16 22:28:07,125][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 +[2026-09-16 22:28:07,179][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 +[2026-09-16 22:28:07,233][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 +[2026-09-16 22:28:07,233][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) +[2026-09-16 22:28:07,233][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:28:07,233][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:28:07,244][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:28:07,249][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:28:07,255][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:28:07,261][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:28:07,267][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:28:07,273][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:28:07,278][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:28:07,286][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.04786324786324769, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, 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)] +[2026-09-16 22:28:07,286][root][INFO] - current_pos: [-0.03833829251544962, -0.0013351644159609322, 0.0005722133211261138, 0.0005722133211261138, -0.023842221713588074, -0.06008239871824195, 0.4415579461356529] +[2026-09-16 22:28:07,286][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:28:07,286][root][INFO] - starting separate thread for control loop +[2026-09-16 22:28:07,386][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=0.006837606837606813, pos=-0.038719768062870585, voltage=-1, temp_mos=27.0, temp_rotor=25.0, timestamp=1789568887.3868282), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.026862026862026767, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=29.0, timestamp=1789568887.3868282), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789568887.3868282), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=34.0, temp_rotor=36.0, timestamp=1789568887.3868282), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.0024420024420024333, pos=-0.023842221713588074, voltage=-1, temp_mos=30.0, temp_rotor=30.0, timestamp=1789568887.3868282), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.06008239871824195, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789568887.3868282), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.4415579461356529, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789568887.3868282)] +[2026-09-16 22:28:07,387][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:28:07,387][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.4416 +[2026-09-16 22:28:07,387][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:28:08,002][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 22:28:08,302][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:28:08,919][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 22:28:09,219][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252346074616618, -0.010490577553978753) +[2026-09-16 22:28:09,219][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25234607 -0.01049058] +[2026-09-16 22:28:09,356][root][INFO] - initializing, .... +[2026-09-16 22:28:16,628][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.56 Hz +[2026-09-16 22:28:19,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.84 Hz +[2026-09-16 22:28:26,629][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.78 Hz +[2026-09-16 22:28:29,365][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.12 Hz +[2026-09-16 22:28:34,441][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.33 iterations per second over 30.00 seconds. +[2026-09-16 22:28:34,441][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 25 times, mean step_time: 0.003978 s, max step_time: 0.074574 s +[2026-09-16 22:28:36,630][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.47 Hz +[2026-09-16 22:28:37,290][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.01 iterations per second over 30.00 seconds. +[2026-09-16 22:28:37,290][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004032 s, max step_time: 0.070922 s +[2026-09-16 22:28:39,365][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.80 Hz +[2026-09-16 22:28:46,634][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.70 Hz +[2026-09-16 22:28:49,369][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.02 Hz +[2026-09-16 22:28:56,635][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 +[2026-09-16 22:28:59,370][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.44 Hz +[2026-09-16 22:29:04,444][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.24 iterations per second over 30.00 seconds. +[2026-09-16 22:29:04,444][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003996 s, max step_time: 0.043447 s +[2026-09-16 22:29:06,638][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 +[2026-09-16 22:29:07,290][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.86 iterations per second over 30.00 seconds. +[2026-09-16 22:29:07,290][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003955 s, max step_time: 0.036036 s +[2026-09-16 22:29:09,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.54 Hz +[2026-09-16 22:29:12,044][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] +[2026-09-16 22:29:12,045][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] +[2026-09-16 22:29:16,640][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 +[2026-09-16 22:29:19,376][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 +[2026-09-16 22:29:26,642][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 +[2026-09-16 22:29:29,379][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.93 Hz +[2026-09-16 22:29:34,447][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.27 iterations per second over 30.00 seconds. +[2026-09-16 22:29:34,448][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 8 times, mean step_time: 0.003887 s, max step_time: 0.009833 s +[2026-09-16 22:29:36,645][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.65 Hz +[2026-09-16 22:29:37,293][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.78 iterations per second over 30.00 seconds. +[2026-09-16 22:29:37,293][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.003910 s, max step_time: 0.010509 s +[2026-09-16 22:29:39,382][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.42 Hz +[2026-09-16 22:29:46,646][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.86 Hz +[2026-09-16 22:29:49,385][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.34 Hz +[2026-09-16 22:29:56,649][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.81 Hz +[2026-09-16 22:29:59,385][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.28 Hz +[2026-09-16 22:30:04,450][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.74 iterations per second over 30.00 seconds. +[2026-09-16 22:30:04,450][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.004020 s, max step_time: 0.008122 s +[2026-09-16 22:30:06,652][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.14 Hz +[2026-09-16 22:30:07,293][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.76 iterations per second over 30.00 seconds. +[2026-09-16 22:30:07,293][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 6 times, mean step_time: 0.004020 s, max step_time: 0.008362 s +[2026-09-16 22:30:09,389][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.31 Hz +[2026-09-16 22:30:16,656][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.02 Hz +[2026-09-16 22:30:19,391][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.33 Hz +[2026-09-16 22:30:26,655][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 259.90 Hz +[2026-09-16 22:30:29,393][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 +[2026-09-16 22:30:30,845][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] +[2026-09-16 22:30:30,845][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] +[2026-09-16 22:30:34,450][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.87 iterations per second over 30.00 seconds. +[2026-09-16 22:30:34,450][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003893 s, max step_time: 0.044802 s +[2026-09-16 22:30:36,657][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 263.67 Hz +[2026-09-16 22:30:37,296][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 258.35 iterations per second over 30.00 seconds. +[2026-09-16 22:30:37,296][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003871 s, max step_time: 0.035180 s +[2026-09-16 22:30:39,395][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 262.45 Hz +[2026-09-16 22:30:46,660][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 261.83 Hz +[2026-09-16 22:30:49,395][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 +[2026-09-16 22:30:56,663][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.74 Hz +[2026-09-16 22:30:59,397][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.94 Hz +[2026-09-16 22:31:04,451][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 255.60 iterations per second over 30.00 seconds. +[2026-09-16 22:31:04,451][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003912 s, max step_time: 0.009449 s +[2026-09-16 22:31:06,666][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.51 Hz +[2026-09-16 22:31:07,299][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.21 iterations per second over 30.00 seconds. +[2026-09-16 22:31:07,299][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 4 times, mean step_time: 0.003934 s, max step_time: 0.011111 s +[2026-09-16 22:31:09,402][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.80 Hz +[2026-09-16 22:31:16,668][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.94 Hz +[2026-09-16 22:31:19,405][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.02 Hz +[2026-09-16 22:31:26,671][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.85 Hz +[2026-09-16 22:31:29,406][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.69 Hz +[2026-09-16 22:31:34,455][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.80 iterations per second over 30.00 seconds. +[2026-09-16 22:31:34,455][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 14 times, mean step_time: 0.004035 s, max step_time: 0.008273 s +[2026-09-16 22:31:36,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.13 Hz +[2026-09-16 22:31:37,299][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.76 iterations per second over 30.00 seconds. +[2026-09-16 22:31:37,300][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 21 times, mean step_time: 0.004053 s, max step_time: 0.009663 s +[2026-09-16 22:31:39,409][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.50 Hz +[2026-09-16 22:31:44,808][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] +[2026-09-16 22:31:44,808][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] +[2026-09-16 22:31:46,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.96 Hz +[2026-09-16 22:31:49,412][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.36 Hz +[2026-09-16 22:31:56,676][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.19 Hz +[2026-09-16 22:31:59,415][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.33 Hz +[2026-09-16 22:32:04,456][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.06 iterations per second over 30.00 seconds. +[2026-09-16 22:32:04,456][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 92 times, mean step_time: 0.003952 s, max step_time: 0.041878 s +[2026-09-16 22:32:06,676][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.88 Hz +[2026-09-16 22:32:07,301][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.96 iterations per second over 30.00 seconds. +[2026-09-16 22:32:07,301][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 110 times, mean step_time: 0.003953 s, max step_time: 0.032506 s +[2026-09-16 22:32:09,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.50 Hz +[2026-09-16 22:32:16,678][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.76 Hz +[2026-09-16 22:32:19,418][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 250.40 Hz +[2026-09-16 22:32:26,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.47 Hz +[2026-09-16 22:32:29,421][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.64 Hz +[2026-09-16 22:32:34,459][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.54 iterations per second over 30.00 seconds. +[2026-09-16 22:32:34,459][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 154 times, mean step_time: 0.004024 s, max step_time: 0.015746 s +[2026-09-16 22:32:36,681][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.85 Hz +[2026-09-16 22:32:37,303][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.75 iterations per second over 30.00 seconds. +[2026-09-16 22:32:37,303][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 154 times, mean step_time: 0.004036 s, max step_time: 0.046218 s +[2026-09-16 22:32:39,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.82 Hz +[2026-09-16 22:32:46,682][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.66 Hz +[2026-09-16 22:32:49,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.10 Hz +[2026-09-16 22:32:50,305][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] +[2026-09-16 22:32:50,305][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] +[2026-09-16 22:32:56,684][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.56 Hz +[2026-09-16 22:32:59,424][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 260.59 Hz +[2026-09-16 22:33:04,463][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 253.67 iterations per second over 30.00 seconds. +[2026-09-16 22:33:04,463][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 90 times, mean step_time: 0.003942 s, max step_time: 0.043884 s +[2026-09-16 22:33:06,687][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 +[2026-09-16 22:33:07,306][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.71 iterations per second over 30.00 seconds. +[2026-09-16 22:33:07,306][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 77 times, mean step_time: 0.003911 s, max step_time: 0.038799 s +[2026-09-16 22:33:09,426][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.15 Hz +[2026-09-16 22:33:16,690][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 249.96 Hz +[2026-09-16 22:33:19,430][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.35 Hz +[2026-09-16 22:33:26,699][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 +[2026-09-16 22:33:29,430][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.86 Hz +[2026-09-16 22:33:34,466][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.67 iterations per second over 30.00 seconds. +[2026-09-16 22:33:34,466][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 147 times, mean step_time: 0.004021 s, max step_time: 0.019583 s +[2026-09-16 22:33:36,698][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.24 Hz +[2026-09-16 22:33:37,308][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.32 iterations per second over 30.00 seconds. +[2026-09-16 22:33:37,308][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 145 times, mean step_time: 0.004043 s, max step_time: 0.019333 s +[2026-09-16 22:33:39,431][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.25 Hz +[2026-09-16 22:33:46,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.79 Hz +[2026-09-16 22:33:49,436][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.09 Hz +[2026-09-16 22:33:56,699][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.08 Hz +[2026-09-16 22:33:59,437][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.90 Hz +[2026-09-16 22:34:04,012][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] +[2026-09-16 22:34:04,012][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] +[2026-09-16 22:34:04,466][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 247.57 iterations per second over 30.00 seconds. +[2026-09-16 22:34:04,466][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 129 times, mean step_time: 0.004039 s, max step_time: 0.036833 s +[2026-09-16 22:34:06,700][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.80 Hz +[2026-09-16 22:34:07,311][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.78 iterations per second over 30.00 seconds. +[2026-09-16 22:34:07,311][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 125 times, mean step_time: 0.004036 s, max step_time: 0.036191 s +[2026-09-16 22:34:09,438][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.27 Hz +[2026-09-16 22:34:16,703][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.14 Hz +[2026-09-16 22:34:19,441][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.92 Hz +[2026-09-16 22:34:26,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.39 Hz +[2026-09-16 22:34:29,443][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.65 Hz +[2026-09-16 22:34:34,469][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.71 iterations per second over 30.00 seconds. +[2026-09-16 22:34:34,469][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003895 s, max step_time: 0.012012 s +[2026-09-16 22:34:36,704][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 +[2026-09-16 22:34:37,311][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.53 iterations per second over 30.00 seconds. +[2026-09-16 22:34:37,311][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003898 s, max step_time: 0.009689 s +[2026-09-16 22:34:39,445][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 +[2026-09-16 22:34:46,704][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.00 Hz +[2026-09-16 22:34:49,448][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.42 Hz +[2026-09-16 22:34:56,707][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.63 Hz +[2026-09-16 22:34:59,448][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.98 Hz +[2026-09-16 22:35:04,470][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.06 iterations per second over 30.00 seconds. +[2026-09-16 22:35:04,470][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003890 s, max step_time: 0.007128 s +[2026-09-16 22:35:06,709][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.94 Hz +[2026-09-16 22:35:07,311][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.13 iterations per second over 30.00 seconds. +[2026-09-16 22:35:07,311][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 1 times, mean step_time: 0.003889 s, max step_time: 0.009317 s +[2026-09-16 22:35:09,449][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.57 Hz +[2026-09-16 22:35:09,742][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.84 iterations per second over 2.43 seconds. +[2026-09-16 22:35:09,751][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 263.02 iterations per second over 5.28 seconds. +[2026-09-16 22:40:25,063][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 22:40:25,064][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 22:40:25,064][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 22:40:25,064][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 22:40:25,064][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 22:40:25,064][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 22:40:25,064][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 22:40:25,064][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 22:40:25,065][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 22:40:25,065][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 22:40:25,065][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 22:40:25,066][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 22:40:25,066][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 22:40:25,066][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 22:40:25,066][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 22:40:25,066][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} +[2026-09-16 22:40:25,066][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 +[2026-09-16 22:40:25,066][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 +[2026-09-16 22:40:25,066][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:40:25,066][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:40:25,066][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:40:25,066][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:40:25,066][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:40:25,066][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:40:25,066][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:40:25,066][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:40:25,066][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:40:25,066][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:40:25,066][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 22:40:25,066][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 +[2026-09-16 22:40:25,067][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:40:25,079][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:40:25,090][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 22:40:25,101][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:40:25,112][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:40:25,123][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:25,135][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:40:25,146][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:40:25,157][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:25,168][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:40:25,180][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:40:25,191][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:25,202][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:40:25,213][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:40:25,224][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:25,235][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:40:25,246][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:40:25,257][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:25,268][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:40:25,280][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:40:25,291][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:25,302][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:40:25,302][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.24 s (7 motor(s)) +[2026-09-16 22:40:25,302][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 +[2026-09-16 22:40:25,303][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:40:25,359][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 +[2026-09-16 22:40:25,414][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 +[2026-09-16 22:40:25,469][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 +[2026-09-16 22:40:25,524][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 +[2026-09-16 22:40:25,579][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 +[2026-09-16 22:40:25,635][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 +[2026-09-16 22:40:25,690][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 +[2026-09-16 22:40:25,690][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) +[2026-09-16 22:40:25,691][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:40:25,691][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:40:25,702][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:40:25,708][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:40:25,713][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:40:25,722][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:40:25,728][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:40:25,735][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:40:25,741][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:40:25,748][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=0.012210012210012167, 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), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 22:40:25,748][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0017166399633783413, 0.0020981155107957505, -0.024986648355840302, -0.056267643244067855, -0.002861066605630569] +[2026-09-16 22:40:25,748][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:40:25,748][root][INFO] - starting separate thread for control loop +[2026-09-16 22:40:25,849][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.03418803418803407, pos=-0.0040054932478827965, voltage=-1, temp_mos=27.0, temp_rotor=26.0, timestamp=1789569625.849343), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789569625.849343), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=32.0, temp_rotor=31.0, timestamp=1789569625.849343), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=0.012210012210012167, pos=0.0020981155107957505, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789569625.849343), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=-0.024986648355840302, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789569625.849343), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0366300366300365, eff=0.0024420024420024333, pos=-0.056267643244067855, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789569625.849343), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.012210012210012167, pos=-0.002861066605630569, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789569625.849343)] +[2026-09-16 22:40:25,849][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:40:25,849][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-16 22:40:25,849][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:40:26,476][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 22:40:26,776][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:40:27,409][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 22:40:27,709][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.007057297627218517) +[2026-09-16 22:40:27,710][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 22:40:27,951][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 +[2026-09-16 22:40:27,951][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 +[2026-09-16 22:40:27,951][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:40:27,951][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:40:27,951][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:40:27,951][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:40:27,951][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:40:27,951][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:40:27,951][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:40:27,951][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:40:27,951][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:40:27,951][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:40:27,951][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 22:40:27,951][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 +[2026-09-16 22:40:27,951][root][INFO] - initializing, .... +[2026-09-16 22:40:27,952][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:40:27,963][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:40:27,974][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:27,985][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:40:27,996][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:40:28,007][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:28,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:40:28,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:40:28,041][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:28,052][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:40:28,063][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:40:28,073][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:28,084][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:40:28,095][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:40:28,106][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:28,116][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:40:28,127][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:40:28,138][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:28,148][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:40:28,159][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:40:28,170][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:40:28,181][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:40:28,181][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 22:40:28,181][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 +[2026-09-16 22:40:28,181][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:40:28,235][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 +[2026-09-16 22:40:28,289][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 +[2026-09-16 22:40:28,342][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 +[2026-09-16 22:40:28,397][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 +[2026-09-16 22:40:28,450][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 +[2026-09-16 22:40:28,505][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 +[2026-09-16 22:40:28,559][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 +[2026-09-16 22:40:28,559][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) +[2026-09-16 22:40:28,559][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:40:28,559][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:40:28,570][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:40:28,575][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:40:28,581][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:40:28,587][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:40:28,593][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:40:28,599][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:40:28,605][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:40:28,611][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, 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)] +[2026-09-16 22:40:28,611][root][INFO] - current_pos: [-0.02994583047226662, -0.0013351644159609322, 0.000953688868543523, 0.006675822079804661, -0.09441519798580877, 0.09822995345998287, 0.4858091096360724] +[2026-09-16 22:40:28,611][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:40:28,611][root][INFO] - starting separate thread for control loop +[2026-09-16 22:40:28,712][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.03418803418803407, pos=-0.02994583047226662, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789569628.7120757), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.06153846153846132, pos=-0.0013351644159609322, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789569628.7120757), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789569628.7120757), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.006294346532387252, voltage=-1, temp_mos=32.0, temp_rotor=30.0, timestamp=1789569628.7120757), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.09441519798580877, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789569628.7120757), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=0.09784847791256546, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789569628.7120757), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.4858091096360724, voltage=-1, temp_mos=28.0, temp_rotor=27.0, timestamp=1789569628.7120757)] +[2026-09-16 22:40:28,712][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:40:28,712][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.4858 +[2026-09-16 22:40:28,712][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:40:29,387][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 22:40:29,687][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:40:30,310][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 22:40:30,611][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252346074616618, -0.010490577553978753) +[2026-09-16 22:40:30,611][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25234607 -0.01049058] +[2026-09-16 22:40:30,743][root][INFO] - initializing, .... +[2026-09-16 22:40:37,956][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.38 Hz +[2026-09-16 22:40:40,747][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.24 Hz +[2026-09-16 22:40:47,958][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.32 Hz +[2026-09-16 22:40:50,748][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.95 Hz +[2026-09-16 22:40:55,753][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.63 iterations per second over 30.00 seconds. +[2026-09-16 22:40:55,754][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003974 s, max step_time: 0.063836 s +[2026-09-16 22:40:57,960][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.15 Hz +[2026-09-16 22:40:58,613][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.89 iterations per second over 30.00 seconds. +[2026-09-16 22:40:58,613][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004034 s, max step_time: 0.067681 s +[2026-09-16 22:40:59,797][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] +[2026-09-16 22:40:59,797][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] +[2026-09-16 22:41:00,752][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.01 Hz +[2026-09-16 22:41:07,961][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.19 Hz +[2026-09-16 22:41:10,754][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.67 Hz +[2026-09-16 22:41:17,962][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 260.25 Hz +[2026-09-16 22:41:20,753][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.10 Hz +[2026-09-16 22:41:25,754][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 256.16 iterations per second over 30.00 seconds. +[2026-09-16 22:41:25,754][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003904 s, max step_time: 0.029006 s +[2026-09-16 22:41:27,963][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.67 Hz +[2026-09-16 22:41:28,613][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 256.23 iterations per second over 30.00 seconds. +[2026-09-16 22:41:28,614][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 5 times, mean step_time: 0.003903 s, max step_time: 0.050523 s +[2026-09-16 22:41:30,757][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 253.50 Hz +[2026-09-16 22:41:37,965][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.75 Hz +[2026-09-16 22:41:40,758][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.77 Hz +[2026-09-16 22:41:47,967][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.78 Hz +[2026-09-16 22:41:50,760][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.34 Hz +[2026-09-16 22:41:51,601][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] +[2026-09-16 22:41:51,601][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] +[2026-09-16 22:41:55,755][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 248.69 iterations per second over 30.00 seconds. +[2026-09-16 22:41:55,756][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.004021 s, max step_time: 0.037164 s +[2026-09-16 22:41:57,969][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.33 Hz +[2026-09-16 22:41:58,615][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.89 iterations per second over 30.00 seconds. +[2026-09-16 22:41:58,615][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.004002 s, max step_time: 0.023700 s +[2026-09-16 22:42:00,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 257.40 Hz +[2026-09-16 22:42:07,971][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.94 Hz +[2026-09-16 22:42:10,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.29 Hz +[2026-09-16 22:42:17,972][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.87 Hz +[2026-09-16 22:42:20,764][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.00 Hz +[2026-09-16 22:42:25,758][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.28 iterations per second over 30.00 seconds. +[2026-09-16 22:42:25,758][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 3 times, mean step_time: 0.003933 s, max step_time: 0.008977 s +[2026-09-16 22:42:27,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.44 Hz +[2026-09-16 22:42:28,618][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.58 iterations per second over 30.00 seconds. +[2026-09-16 22:42:28,618][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003959 s, max step_time: 0.007791 s +[2026-09-16 22:42:30,765][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.38 Hz +[2026-09-16 22:42:37,976][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 242.97 Hz +[2026-09-16 22:42:40,769][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.22 Hz +[2026-09-16 22:42:43,264][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] +[2026-09-16 22:42:43,264][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] +[2026-09-16 22:42:47,977][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.27 Hz +[2026-09-16 22:42:50,773][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.28 Hz +[2026-09-16 22:42:55,761][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.04 iterations per second over 30.00 seconds. +[2026-09-16 22:42:55,761][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003983 s, max step_time: 0.028332 s +[2026-09-16 22:42:57,980][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 +[2026-09-16 22:42:58,621][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.04 iterations per second over 30.00 seconds. +[2026-09-16 22:42:58,621][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003968 s, max step_time: 0.023467 s +[2026-09-16 22:43:00,775][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.75 Hz +[2026-09-16 22:43:07,983][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.45 Hz +[2026-09-16 22:43:10,778][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.83 Hz +[2026-09-16 22:43:17,983][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.67 Hz +[2026-09-16 22:43:20,783][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.87 Hz +[2026-09-16 22:43:25,764][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.38 iterations per second over 30.00 seconds. +[2026-09-16 22:43:25,764][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.004010 s, max step_time: 0.007859 s +[2026-09-16 22:43:27,986][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.34 Hz +[2026-09-16 22:43:28,623][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 247.69 iterations per second over 30.00 seconds. +[2026-09-16 22:43:28,623][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.004037 s, max step_time: 0.009403 s +[2026-09-16 22:43:29,396][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] +[2026-09-16 22:43:29,396][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] +[2026-09-16 22:43:30,785][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.45 Hz +[2026-09-16 22:43:37,987][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 +[2026-09-16 22:43:40,788][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 +[2026-09-16 22:43:47,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 250.70 Hz +[2026-09-16 22:43:50,790][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.74 Hz +[2026-09-16 22:43:55,764][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.53 iterations per second over 30.00 seconds. +[2026-09-16 22:43:55,765][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.003976 s, max step_time: 0.024355 s +[2026-09-16 22:43:57,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.78 Hz +[2026-09-16 22:43:58,623][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.73 iterations per second over 30.00 seconds. +[2026-09-16 22:43:58,624][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 17 times, mean step_time: 0.003973 s, max step_time: 0.034474 s +[2026-09-16 22:44:00,791][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.64 Hz +[2026-09-16 22:44:07,987][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.19 Hz +[2026-09-16 22:44:08,750][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] +[2026-09-16 22:44:08,750][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] +[2026-09-16 22:44:10,793][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.68 Hz +[2026-09-16 22:44:17,991][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.01 Hz +[2026-09-16 22:44:20,794][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.58 Hz +[2026-09-16 22:44:25,765][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 250.43 iterations per second over 30.00 seconds. +[2026-09-16 22:44:25,766][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 27 times, mean step_time: 0.003993 s, max step_time: 0.030400 s +[2026-09-16 22:44:27,992][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 253.05 Hz +[2026-09-16 22:44:28,626][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.11 iterations per second over 30.00 seconds. +[2026-09-16 22:44:28,626][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 24 times, mean step_time: 0.003982 s, max step_time: 0.033240 s +[2026-09-16 22:44:30,797][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 254.61 Hz +[2026-09-16 22:44:37,994][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.16 Hz +[2026-09-16 22:44:40,799][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.75 Hz +[2026-09-16 22:44:47,996][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.55 Hz +[2026-09-16 22:44:50,801][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.24 Hz +[2026-09-16 22:44:55,771][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 257.35 iterations per second over 30.01 seconds. +[2026-09-16 22:44:55,771][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 45 times, mean step_time: 0.003886 s, max step_time: 0.012587 s +[2026-09-16 22:44:57,999][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 +[2026-09-16 22:44:58,628][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 257.44 iterations per second over 30.00 seconds. +[2026-09-16 22:44:58,628][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 53 times, mean step_time: 0.003884 s, max step_time: 0.011226 s +[2026-09-16 22:45:00,801][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.40 Hz +[2026-09-16 22:45:00,933][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 262.10 iterations per second over 2.30 seconds. +[2026-09-16 22:45:00,940][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 262.68 iterations per second over 5.17 seconds. +[2026-09-16 22:45:04,461][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 22:45:04,462][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 22:45:04,462][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 22:45:04,462][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 22:45:04,462][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 22:45:04,462][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 22:45:04,462][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 22:45:04,462][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 22:45:04,462][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 22:45:04,463][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 22:45:04,463][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 22:45:04,463][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 22:45:04,463][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 22:45:04,463][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 22:45:04,463][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 22:45:04,463][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} +[2026-09-16 22:45:04,464][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 +[2026-09-16 22:45:04,464][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 +[2026-09-16 22:45:04,464][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:45:04,464][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:45:04,464][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:45:04,464][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:45:04,464][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:45:04,464][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:45:04,464][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:45:04,464][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:45:04,464][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:45:04,464][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:45:04,464][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 22:45:04,464][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 +[2026-09-16 22:45:04,465][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:45:04,476][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:45:04,487][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 22:45:04,498][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:45:04,509][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:45:04,521][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:04,532][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:45:04,543][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:45:04,554][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:04,565][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:45:04,576][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:45:04,587][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:04,598][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:45:04,610][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:45:04,621][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:04,632][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:45:04,643][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:45:04,654][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:04,665][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:45:04,676][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:45:04,687][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:04,698][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:45:04,698][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 22:45:04,698][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 +[2026-09-16 22:45:04,699][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:45:04,754][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 +[2026-09-16 22:45:04,810][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 +[2026-09-16 22:45:04,865][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 +[2026-09-16 22:45:04,921][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 +[2026-09-16 22:45:04,976][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 +[2026-09-16 22:45:05,032][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 +[2026-09-16 22:45:05,086][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 +[2026-09-16 22:45:05,087][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) +[2026-09-16 22:45:05,087][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:45:05,087][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:45:05,098][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:45:05,103][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:45:05,109][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:45:05,115][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:45:05,121][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:45:05,127][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:45:05,133][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:45:05,139][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.02051282051282044, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, 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)] +[2026-09-16 22:45:05,140][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0017166399633783413, 0.000953688868543523, -0.02117189288166621, -0.056267643244067855, -0.002861066605630569] +[2026-09-16 22:45:05,140][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:45:05,140][root][INFO] - starting separate thread for control loop +[2026-09-16 22:45:05,240][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.004386968795303758, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789569905.2405965), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.04786324786324769, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789569905.2405965), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.012210012210012167, eff=0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=33.0, temp_rotor=37.0, timestamp=1789569905.2405965), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1789569905.2405965), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.021553368429080066, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789569905.2405965), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.056267643244067855, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789569905.2405965), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=-0.002861066605630569, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789569905.2405965)] +[2026-09-16 22:45:05,240][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:45:05,240][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-16 22:45:05,240][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:45:05,871][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 22:45:06,171][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:45:06,795][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 22:45:07,095][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.00705729762722207) +[2026-09-16 22:45:07,096][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 22:45:07,333][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 +[2026-09-16 22:45:07,334][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 +[2026-09-16 22:45:07,334][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:45:07,334][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:45:07,334][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:45:07,334][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:45:07,334][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:45:07,334][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:45:07,334][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:45:07,334][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:45:07,334][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:45:07,334][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:45:07,334][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 22:45:07,334][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 +[2026-09-16 22:45:07,334][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:45:07,336][root][INFO] - initializing, .... +[2026-09-16 22:45:07,345][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:45:07,356][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:07,367][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:45:07,377][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:45:07,388][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:07,399][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:45:07,409][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:45:07,420][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:07,431][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:45:07,442][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:45:07,452][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:07,463][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:45:07,474][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:45:07,485][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:07,495][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:45:07,506][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:45:07,517][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:07,528][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:45:07,538][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:45:07,549][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:45:07,560][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:45:07,560][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 22:45:07,560][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 +[2026-09-16 22:45:07,561][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:45:07,615][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 +[2026-09-16 22:45:07,668][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 +[2026-09-16 22:45:07,722][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 +[2026-09-16 22:45:07,776][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 +[2026-09-16 22:45:07,829][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 +[2026-09-16 22:45:07,883][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 +[2026-09-16 22:45:07,936][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 +[2026-09-16 22:45:07,936][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) +[2026-09-16 22:45:07,937][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:45:07,937][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:45:07,947][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:45:07,953][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:45:07,959][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:45:07,965][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:45:07,971][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:45:07,977][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:45:07,984][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:45:07,990][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.03418803418803407, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 22:45:07,990][root][INFO] - current_pos: [0.037193865873197396, -0.0013351644159609322, 0.0005722133211261138, 0.002861066605630569, -0.04596780346379781, 0.09822995345998287, 0.6006332494087125] +[2026-09-16 22:45:07,990][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:45:07,990][root][INFO] - starting separate thread for control loop +[2026-09-16 22:45:08,091][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=0.02051282051282044, pos=0.037193865873197396, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789569908.0912995), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.017094017094017033, eff=-0.06153846153846132, pos=-0.0009536888685399703, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789569908.0912995), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.02051282051282044, pos=0.000953688868543523, voltage=-1, temp_mos=31.0, temp_rotor=33.0, timestamp=1789569908.0912995), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0073260073260073, pos=0.003242542153047978, voltage=-1, temp_mos=33.0, temp_rotor=35.0, timestamp=1789569908.0912995), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.012210012210012167, pos=-0.04634927901121877, voltage=-1, temp_mos=31.0, temp_rotor=30.0, timestamp=1789569908.0912995), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0024420024420024333, pos=0.09822995345998287, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789569908.0912995), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0073260073260073, pos=0.6006332494087125, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789569908.0912995)] +[2026-09-16 22:45:08,091][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:45:08,091][i2rt.robots.utils][INFO] - Gripper calibration starting from position: 0.6006 +[2026-09-16 22:45:08,091][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:45:08,760][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 22:45:09,060][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:45:09,673][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0105 +[2026-09-16 22:45:09,974][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252346074616618, -0.010490577553982305) +[2026-09-16 22:45:09,974][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25234607 -0.01049058] +[2026-09-16 22:45:10,100][root][INFO] - initializing, .... +[2026-09-16 22:45:17,338][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.97 Hz +[2026-09-16 22:45:20,106][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.99 Hz +[2026-09-16 22:45:27,343][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.05 Hz +[2026-09-16 22:45:30,111][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 245.37 Hz +[2026-09-16 22:45:35,140][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.06 iterations per second over 30.00 seconds. +[2026-09-16 22:45:35,141][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.003983 s, max step_time: 0.074994 s +[2026-09-16 22:45:37,342][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.41 Hz +[2026-09-16 22:45:37,992][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.02 iterations per second over 30.00 seconds. +[2026-09-16 22:45:37,992][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 18 times, mean step_time: 0.004031 s, max step_time: 0.071696 s +[2026-09-16 22:45:40,111][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.40 Hz +[2026-09-16 22:45:45,032][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] +[2026-09-16 22:45:45,032][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] +[2026-09-16 22:45:47,345][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.23 Hz +[2026-09-16 22:45:50,113][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.35 Hz +[2026-09-16 22:45:57,346][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.18 Hz +[2026-09-16 22:46:00,114][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 258.18 Hz +[2026-09-16 22:46:05,144][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.47 iterations per second over 30.00 seconds. +[2026-09-16 22:46:05,144][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003961 s, max step_time: 0.027582 s +[2026-09-16 22:46:07,348][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.66 Hz +[2026-09-16 22:46:07,995][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 252.97 iterations per second over 30.00 seconds. +[2026-09-16 22:46:07,995][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003953 s, max step_time: 0.036308 s +[2026-09-16 22:46:10,119][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.90 Hz +[2026-09-16 22:46:17,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.32 Hz +[2026-09-16 22:46:20,121][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.82 Hz +[2026-09-16 22:46:21,684][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] +[2026-09-16 22:46:21,684][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] +[2026-09-16 22:46:27,352][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 +[2026-09-16 22:46:30,122][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.58 Hz +[2026-09-16 22:46:35,146][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.94 iterations per second over 30.00 seconds. +[2026-09-16 22:46:35,147][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003969 s, max step_time: 0.026241 s +[2026-09-16 22:46:37,353][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.65 Hz +[2026-09-16 22:46:37,997][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.18 iterations per second over 30.00 seconds. +[2026-09-16 22:46:37,997][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 9 times, mean step_time: 0.003950 s, max step_time: 0.026357 s +[2026-09-16 22:46:40,126][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 252.80 Hz +[2026-09-16 22:46:47,357][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.63 Hz +[2026-09-16 22:46:50,128][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.46 Hz +[2026-09-16 22:46:57,358][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 245.63 Hz +[2026-09-16 22:47:00,128][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.38 Hz +[2026-09-16 22:47:04,383][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] +[2026-09-16 22:47:04,383][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] +[2026-09-16 22:47:05,149][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 245.51 iterations per second over 30.00 seconds. +[2026-09-16 22:47:05,149][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 29 times, mean step_time: 0.004073 s, max step_time: 0.038742 s +[2026-09-16 22:47:07,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.43 Hz +[2026-09-16 22:47:07,998][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 246.66 iterations per second over 30.00 seconds. +[2026-09-16 22:47:07,998][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.004054 s, max step_time: 0.022678 s +[2026-09-16 22:47:10,129][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.19 Hz +[2026-09-16 22:47:17,362][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 256.17 Hz +[2026-09-16 22:47:20,131][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 251.56 Hz +[2026-09-16 22:47:27,365][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.58 Hz +[2026-09-16 22:47:30,132][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.46 Hz +[2026-09-16 22:47:35,150][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.52 iterations per second over 30.00 seconds. +[2026-09-16 22:47:35,151][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003976 s, max step_time: 0.009658 s +[2026-09-16 22:47:37,368][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.04 Hz +[2026-09-16 22:47:37,999][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.19 iterations per second over 30.00 seconds. +[2026-09-16 22:47:37,999][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 7 times, mean step_time: 0.003997 s, max step_time: 0.010837 s +[2026-09-16 22:47:40,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 246.99 Hz +[2026-09-16 22:47:46,839][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 22:47:46,840][i2rt.robots.motor_chain_robot][INFO] - Direct teaching active: passive gripper kp=0, kd=0, velocity=0, torque=0; arm gravity factors=[1.0, 1.1, 1.1, 1.2, 1.0, 1.0], arm kd=[0.1, 0.1, 0.1, 0.3, 0.05, 0.05] +[2026-09-16 22:47:47,368][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 244.86 Hz +[2026-09-16 22:47:50,134][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.96 Hz +[2026-09-16 22:47:57,369][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 +[2026-09-16 22:48:00,135][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.18 Hz +[2026-09-16 22:48:05,151][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.73 iterations per second over 30.00 seconds. +[2026-09-16 22:48:05,151][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 10 times, mean step_time: 0.003957 s, max step_time: 0.042007 s +[2026-09-16 22:48:07,373][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 257.61 Hz +[2026-09-16 22:48:08,002][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 254.21 iterations per second over 30.00 seconds. +[2026-09-16 22:48:08,002][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.003934 s, max step_time: 0.030457 s +[2026-09-16 22:48:10,139][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.01 Hz +[2026-09-16 22:48:17,374][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.30 Hz +[2026-09-16 22:48:20,142][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.18 Hz +[2026-09-16 22:48:20,808][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] +[2026-09-16 22:48:20,809][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] +[2026-09-16 22:48:27,375][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 252.66 Hz +[2026-09-16 22:48:30,141][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 259.66 Hz +[2026-09-16 22:48:35,153][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 254.65 iterations per second over 30.00 seconds. +[2026-09-16 22:48:35,153][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003927 s, max step_time: 0.019157 s +[2026-09-16 22:48:37,378][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 268.41 Hz +[2026-09-16 22:48:38,005][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 255.74 iterations per second over 30.00 seconds. +[2026-09-16 22:48:38,005][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003910 s, max step_time: 0.025418 s +[2026-09-16 22:48:40,143][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 268.33 Hz +[2026-09-16 22:48:42,458][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 271.03 iterations per second over 4.45 seconds. +[2026-09-16 22:48:42,465][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 270.10 iterations per second over 7.31 seconds. +[2026-09-16 22:48:44,792][i2rt.robots.utils][INFO] - Loading arm config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/yam_ultra_v1.yml +[2026-09-16 22:48:44,793][i2rt.robots.utils][INFO] - motor_list: ((1, 'DM4340'), (2, 'DM4340'), (3, 'DM4340'), (4, 'DM4310'), (5, 'DM4310'), (6, 'DM4310')) +[2026-09-16 22:48:44,793][i2rt.robots.utils][INFO] - directions: (1, 1, 1, 1, 1, 1) +[2026-09-16 22:48:44,793][i2rt.robots.utils][INFO] - kp: [80. 80. 80. 40. 10. 10.] +[2026-09-16 22:48:44,793][i2rt.robots.utils][INFO] - kd: [5. 5. 5. 1.5 1.5 1.5] +[2026-09-16 22:48:44,793][i2rt.robots.utils][INFO] - gravity_comp_factor: [1. 1.1 1.1 1.2 1. 1. ] +[2026-09-16 22:48:44,794][i2rt.robots.utils][INFO] - grav_comp_kd: [0.1 0.1 0.1 0.3 0.05 0.05] +[2026-09-16 22:48:44,794][i2rt.robots.utils][INFO] - coulomb_friction: [0.3 0.3 0.3 0.06 0.06 0.06] +[2026-09-16 22:48:44,794][i2rt.robots.utils][INFO] - Loading gripper config from /home/romoya-1/openpi-workspace/i2rt/i2rt/robots/config/linear_4310.yml (arm=yam_ultra) +[2026-09-16 22:48:44,795][i2rt.robots.utils][INFO] - motor_type: DM4310 +[2026-09-16 22:48:44,795][i2rt.robots.utils][INFO] - motor_kp: 20.0 +[2026-09-16 22:48:44,796][i2rt.robots.utils][INFO] - motor_kd: 0.5 +[2026-09-16 22:48:44,796][i2rt.robots.utils][INFO] - gripper_limits: None +[2026-09-16 22:48:44,796][i2rt.robots.utils][INFO] - needs_calibration: True +[2026-09-16 22:48:44,796][i2rt.robots.utils][INFO] - motor_direction: 1 +[2026-09-16 22:48:44,796][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} +[2026-09-16 22:48:44,796][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 +[2026-09-16 22:48:44,796][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 +[2026-09-16 22:48:44,796][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:48:44,796][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:48:44,796][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:48:44,796][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:48:44,796][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:48:44,796][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:48:44,796][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:48:44,796][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:48:44,796][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:48:44,796][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:48:44,796][root][INFO] - Channel: can_follower_l, Bitrate: 1000000 +[2026-09-16 22:48:44,796][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 +[2026-09-16 22:48:44,797][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:48:44,809][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:48:44,820][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: hw_ver (@13) = 0 +[2026-09-16 22:48:44,831][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:48:44,842][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:48:44,853][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:44,864][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:48:44,875][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:48:44,886][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:44,897][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:48:44,908][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:48:44,919][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:44,930][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:48:44,941][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:48:44,952][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:44,963][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:48:44,974][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:48:44,985][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:44,996][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:48:45,007][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:48:45,018][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:45,029][i2rt.motor_drivers.motor_check][INFO] - can_follower_l motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:48:45,029][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_l in 0.23 s (7 motor(s)) +[2026-09-16 22:48:45,029][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 +[2026-09-16 22:48:45,029][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:48:45,083][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 +[2026-09-16 22:48:45,137][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 +[2026-09-16 22:48:45,191][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 +[2026-09-16 22:48:45,245][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 +[2026-09-16 22:48:45,299][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 +[2026-09-16 22:48:45,354][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 +[2026-09-16 22:48:45,409][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 +[2026-09-16 22:48:45,409][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) +[2026-09-16 22:48:45,410][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:48:45,410][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:48:45,421][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:48:45,426][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:48:45,433][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:48:45,439][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:48:45,446][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:48:45,453][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:48:45,460][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:48:45,466][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=0.012210012210012167, 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), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0073260073260073, kp=0.0, kd=0.0)] +[2026-09-16 22:48:45,466][root][INFO] - current_pos: [-0.0040054932478827965, -0.000953688868543523, 0.0013351644159609322, 0.000953688868543523, -0.0207904173342488, -0.056649118791485265, -0.002861066605630569] +[2026-09-16 22:48:45,466][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:48:45,466][root][INFO] - starting separate thread for control loop +[2026-09-16 22:48:45,567][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.02051282051282044, pos=-0.0040054932478827965, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789570125.5671792), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.03418803418803407, pos=-0.000953688868543523, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789570125.5671792), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=-0.0024420024420024333, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=33.0, temp_rotor=38.0, timestamp=1789570125.5671792), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0073260073260073, pos=0.000953688868543523, voltage=-1, temp_mos=33.0, temp_rotor=39.0, timestamp=1789570125.5671792), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.0207904173342488, voltage=-1, temp_mos=30.0, temp_rotor=29.0, timestamp=1789570125.5671792), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.0024420024420024333, pos=-0.056649118791485265, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789570125.5671792), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0219780219780219, eff=-0.0073260073260073, pos=-0.002861066605630569, voltage=-1, temp_mos=29.0, temp_rotor=27.0, timestamp=1789570125.5671792)] +[2026-09-16 22:48:45,567][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:48:45,567][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0029 +[2026-09-16 22:48:45,567][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:48:46,193][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2672 +[2026-09-16 22:48:46,493][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:48:47,121][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0071 +[2026-09-16 22:48:47,421][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.267223620965897, -0.007057297627218517) +[2026-09-16 22:48:47,422][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.26722362 -0.0070573 ] +[2026-09-16 22:48:47,663][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 +[2026-09-16 22:48:47,663][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 +[2026-09-16 22:48:47,663][i2rt.robots.get_robot][INFO] - joint limits (8 joints): +[2026-09-16 22:48:47,663][i2rt.robots.get_robot][INFO] - joint1: [-2.61799, 3.14159] +[2026-09-16 22:48:47,663][i2rt.robots.get_robot][INFO] - joint2: [0.00000, 3.66519] +[2026-09-16 22:48:47,663][i2rt.robots.get_robot][INFO] - joint3: [0.00000, 3.14159] +[2026-09-16 22:48:47,663][i2rt.robots.get_robot][INFO] - joint4: [-1.69297, 1.57080] +[2026-09-16 22:48:47,663][i2rt.robots.get_robot][INFO] - joint5: [-1.57080, 1.57080] +[2026-09-16 22:48:47,663][i2rt.robots.get_robot][INFO] - joint6: [-2.09440, 2.09440] +[2026-09-16 22:48:47,663][i2rt.robots.get_robot][INFO] - joint7: [0.00000, 0.04750] +[2026-09-16 22:48:47,663][i2rt.robots.get_robot][INFO] - joint8: [0.00000, 0.04750] +[2026-09-16 22:48:47,663][root][INFO] - adding gripper motor type=DM4310, kp=20.0, kd=0.5 +[2026-09-16 22:48:47,663][root][INFO] - Channel: can_follower_r, Bitrate: 1000000 +[2026-09-16 22:48:47,663][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 +[2026-09-16 22:48:47,664][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:48:47,666][root][INFO] - initializing, .... +[2026-09-16 22:48:47,675][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: Gr (@20) = 40 +[2026-09-16 22:48:47,686][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:47,697][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 1 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:48:47,708][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: Gr (@20) = 40 +[2026-09-16 22:48:47,719][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:47,729][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 2 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:48:47,740][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: Gr (@20) = 40 +[2026-09-16 22:48:47,751][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:47,762][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 3 DM4340: sw_ver (@14) = 925970741 +[2026-09-16 22:48:47,772][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: Gr (@20) = 10 +[2026-09-16 22:48:47,783][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:47,794][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 4 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:48:47,805][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: Gr (@20) = 10 +[2026-09-16 22:48:47,815][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:47,826][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 5 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:48:47,837][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: Gr (@20) = 10 +[2026-09-16 22:48:47,848][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:47,858][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 6 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:48:47,869][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: Gr (@20) = 10 +[2026-09-16 22:48:47,880][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: hw_ver (@13) = 1445998643 +[2026-09-16 22:48:47,890][i2rt.motor_drivers.motor_check][INFO] - can_follower_r motor 7 DM4310: sw_ver (@14) = 925970485 +[2026-09-16 22:48:47,890][i2rt.motor_drivers.motor_check][INFO] - motor type check passed on can_follower_r in 0.23 s (7 motor(s)) +[2026-09-16 22:48:47,890][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 +[2026-09-16 22:48:47,891][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:48:47,944][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 +[2026-09-16 22:48:47,998][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 +[2026-09-16 22:48:48,052][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 +[2026-09-16 22:48:48,110][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 +[2026-09-16 22:48:48,163][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 +[2026-09-16 22:48:48,217][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 +[2026-09-16 22:48:48,271][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 +[2026-09-16 22:48:48,271][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) +[2026-09-16 22:48:48,271][can.interfaces.socketcan.socketcan][INFO] - Created a socket +[2026-09-16 22:48:48,271][root][INFO] - Can interface yam_real use_buffered_reader: False +[2026-09-16 22:48:48,282][root][INFO] - Turning on motor_id: 1, motor_type: DM4340 +[2026-09-16 22:48:48,287][root][INFO] - Turning on motor_id: 2, motor_type: DM4340 +[2026-09-16 22:48:48,293][root][INFO] - Turning on motor_id: 3, motor_type: DM4340 +[2026-09-16 22:48:48,299][root][INFO] - Turning on motor_id: 4, motor_type: DM4310 +[2026-09-16 22:48:48,305][root][INFO] - Turning on motor_id: 5, motor_type: DM4310 +[2026-09-16 22:48:48,311][root][INFO] - Turning on motor_id: 6, motor_type: DM4310 +[2026-09-16 22:48:48,316][root][INFO] - Turning on motor_id: 7, motor_type: DM4310 +[2026-09-16 22:48:48,322][root][INFO] - Initializing motorchain with starting command: [MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.06153846153846132, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.006837606837606813, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=-0.0024420024420024333, kp=0.0, kd=0.0), MotorCmd(type='pos_vel_torque', pos=0.0, vel=0.0, torque=0.0024420024420024333, kp=0.0, kd=0.0)] +[2026-09-16 22:48:48,323][root][INFO] - current_pos: [0.0017166399633783413, -0.000953688868543523, 0.000953688868543523, 0.0005722133211261138, -0.024223697261005483, -0.007438773174639479, -0.004386968795300206] +[2026-09-16 22:48:48,323][root][INFO] - adjusted motor_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +[2026-09-16 22:48:48,323][root][INFO] - starting separate thread for control loop +[2026-09-16 22:48:48,423][root][INFO] - YAM initial motor_states: [MotorInfo(id=1, error_code='0x1', target_torque=0.0, vel=-0.012210012210012167, eff=-0.006837606837606813, pos=0.0017166399633783413, voltage=-1, temp_mos=28.0, temp_rotor=26.0, timestamp=1789570128.4234626), MotorInfo(id=2, error_code='0x1', target_torque=0.0, vel=0.0024420024420024333, eff=-0.07521367521367495, pos=-0.0013351644159644849, voltage=-1, temp_mos=30.0, temp_rotor=31.0, timestamp=1789570128.4234626), MotorInfo(id=3, error_code='0x1', target_torque=0.0, vel=0.0073260073260073, eff=-0.006837606837606813, pos=0.000953688868543523, voltage=-1, temp_mos=32.0, temp_rotor=34.0, timestamp=1789570128.4234626), MotorInfo(id=4, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=0.0005722133211261138, voltage=-1, temp_mos=33.0, temp_rotor=36.0, timestamp=1789570128.4234626), MotorInfo(id=5, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=0.0024420024420024333, pos=-0.024223697261005483, voltage=-1, temp_mos=31.0, temp_rotor=31.0, timestamp=1789570128.4234626), MotorInfo(id=6, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.007438773174639479, voltage=-1, temp_mos=30.0, temp_rotor=28.0, timestamp=1789570128.4234626), MotorInfo(id=7, error_code='0x1', target_torque=0.0, vel=-0.0073260073260073, eff=-0.0024420024420024333, pos=-0.004005493247879244, voltage=-1, temp_mos=29.0, temp_rotor=28.0, timestamp=1789570128.4234626)] +[2026-09-16 22:48:48,423][i2rt.robots.motor_chain_robot][INFO] - Auto-detecting gripper limits... +[2026-09-16 22:48:48,423][i2rt.robots.utils][INFO] - Gripper calibration starting from position: -0.0040 +[2026-09-16 22:48:48,423][i2rt.robots.utils][INFO] - Testing gripper direction: 1 +[2026-09-16 22:48:49,101][i2rt.robots.utils][INFO] - Gripper limit detected: pos=5.2523 +[2026-09-16 22:48:49,401][i2rt.robots.utils][INFO] - Testing gripper direction: -1 +[2026-09-16 22:48:50,074][i2rt.robots.utils][INFO] - Gripper limit detected: pos=-0.0109 +[2026-09-16 22:48:50,374][i2rt.robots.utils][INFO] - Motor direction: 1, detected limits: (5.252727550164035, -0.01087205310139261) +[2026-09-16 22:48:50,374][i2rt.robots.motor_chain_robot][INFO] - Gripper limits auto-detected: [ 5.25272755 -0.01087205] +[2026-09-16 22:48:50,499][root][INFO] - initializing, .... +[2026-09-16 22:48:57,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 255.23 Hz +[2026-09-16 22:49:00,504][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 243.36 Hz +[2026-09-16 22:49:07,669][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.39 Hz +[2026-09-16 22:49:10,507][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.51 Hz +[2026-09-16 22:49:15,469][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.38 iterations per second over 30.00 seconds. +[2026-09-16 22:49:15,469][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 23 times, mean step_time: 0.003962 s, max step_time: 0.074024 s +[2026-09-16 22:49:17,675][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.08 Hz +[2026-09-16 22:49:18,323][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 248.46 iterations per second over 30.00 seconds. +[2026-09-16 22:49:18,323][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 19 times, mean step_time: 0.004024 s, max step_time: 0.076601 s +[2026-09-16 22:49:20,508][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.08 Hz +[2026-09-16 22:49:24,645][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] +[2026-09-16 22:49:24,646][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] +[2026-09-16 22:49:27,674][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 246.76 Hz +[2026-09-16 22:49:30,509][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 249.56 Hz +[2026-09-16 22:49:37,679][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 258.51 Hz +[2026-09-16 22:49:40,509][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 +[2026-09-16 22:49:45,472][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.44 iterations per second over 30.00 seconds. +[2026-09-16 22:49:45,473][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003977 s, max step_time: 0.034791 s +[2026-09-16 22:49:47,680][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.65 Hz +[2026-09-16 22:49:48,327][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 251.47 iterations per second over 30.00 seconds. +[2026-09-16 22:49:48,328][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 11 times, mean step_time: 0.003977 s, max step_time: 0.044173 s +[2026-09-16 22:49:50,512][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.84 Hz +[2026-09-16 22:49:57,683][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 +[2026-09-16 22:50:00,515][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 247.81 Hz +[2026-09-16 22:50:07,508][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] +[2026-09-16 22:50:07,508][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] +[2026-09-16 22:50:07,686][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.96 Hz +[2026-09-16 22:50:10,517][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.97 Hz +[2026-09-16 22:50:15,474][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 249.76 iterations per second over 30.00 seconds. +[2026-09-16 22:50:15,474][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 12 times, mean step_time: 0.004004 s, max step_time: 0.038658 s +[2026-09-16 22:50:17,689][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 254.93 Hz +[2026-09-16 22:50:18,329][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 249.82 iterations per second over 30.00 seconds. +[2026-09-16 22:50:18,329][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 16 times, mean step_time: 0.004003 s, max step_time: 0.031152 s +[2026-09-16 22:50:20,516][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 255.20 Hz +[2026-09-16 22:50:27,689][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 +[2026-09-16 22:50:30,520][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 256.21 Hz +[2026-09-16 22:50:37,691][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 247.65 Hz +[2026-09-16 22:50:40,520][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 244.79 Hz +[2026-09-16 22:50:45,477][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 251.24 iterations per second over 30.00 seconds. +[2026-09-16 22:50:45,477][root][INFO] - [DMChainCanInterface(channel=can_follower_l) 30.0s Report] step_time > 0.007s: 13 times, mean step_time: 0.003980 s, max step_time: 0.019205 s +[2026-09-16 22:50:47,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 248.26 Hz +[2026-09-16 22:50:48,330][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 250.87 iterations per second over 30.00 seconds. +[2026-09-16 22:50:48,337][root][INFO] - [DMChainCanInterface(channel=can_follower_r) 30.0s Report] step_time > 0.007s: 20 times, mean step_time: 0.003987 s, max step_time: 0.012159 s +[2026-09-16 22:50:50,302][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] +[2026-09-16 22:50:50,303][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] +[2026-09-16 22:50:50,523][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_r)): Grav Comp Control Frequency: 248.03 Hz +[2026-09-16 22:50:57,693][root][INFO] - MotorChainRobot(arm_type=ArmType.YAM_ULTRA, gripper_type=GripperType.LINEAR_4310, motor_chain=DMChainCanInterface(channel=can_follower_l)): Grav Comp Control Frequency: 251.99 Hz +[2026-09-16 22:50:58,853][root][INFO] - DMChainCanInterface(channel=can_follower_r) Total rate: 253.06 iterations per second over 10.52 seconds. +[2026-09-16 22:50:58,860][root][INFO] - DMChainCanInterface(channel=can_follower_l) Total rate: 252.40 iterations per second over 13.38 seconds. diff --git a/eval/YAM/V2/dp/flip_bread/metadata/rounds.json b/eval/YAM/V2/dp/flip_bread/metadata/rounds.json new file mode 100644 index 0000000000000000000000000000000000000000..d01b630a10a5346ab78318193927c36c41beab6e --- /dev/null +++ b/eval/YAM/V2/dp/flip_bread/metadata/rounds.json @@ -0,0 +1,193 @@ +{ + "rounds": [ + { + "actions_sent": 960, + "chunks": 30, + "data_saved": true, + "operator_result": "success", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0001", + "reviewed_at_ns": 1789569102225851492, + "round_number": 1, + "status": "completed", + "task_success": true + }, + { + "actions_sent": 960, + "chunks": 30, + "data_saved": true, + "operator_result": "success", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0002", + "reviewed_at_ns": 1789569168785725937, + "round_number": 2, + "status": "completed", + "task_success": true + }, + { + "actions_sent": 960, + "chunks": 30, + "data_saved": true, + "operator_result": "success", + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0003", + "reviewed_at_ns": 1789569243300238623, + "round_number": 3, + "status": "completed", + "task_success": true + }, + { + "actions_sent": 544, + "chunks": 17, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0004", + "reviewed_at_ns": 1789569659797867824, + "round_number": 4, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 480, + "chunks": 15, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0005", + "reviewed_at_ns": 1789569721405766602, + "round_number": 5, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 480, + "chunks": 15, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0006", + "reviewed_at_ns": 1789569763269341122, + "round_number": 6, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 524, + "chunks": 16, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0007", + "reviewed_at_ns": 1789569809396952954, + "round_number": 7, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 508, + "chunks": 15, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0008", + "reviewed_at_ns": 1789569848758868768, + "round_number": 8, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 629, + "chunks": 19, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0009", + "reviewed_at_ns": 1789569945032457801, + "round_number": 9, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 384, + "chunks": 12, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0010", + "reviewed_at_ns": 1789569981686955854, + "round_number": 10, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 512, + "chunks": 16, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0011", + "reviewed_at_ns": 1789570024386504125, + "round_number": 11, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 590, + "chunks": 18, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0012", + "reviewed_at_ns": 1789570066840129588, + "round_number": 12, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + }, + { + "actions_sent": 640, + "chunks": 20, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0013", + "reviewed_at_ns": 1789570164654538176, + "round_number": 13, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 491, + "chunks": 15, + "data_saved": true, + "operator_result": "success", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0014", + "reviewed_at_ns": 1789570207508302558, + "round_number": 14, + "status": "completed", + "task_success": true, + "termination_reason": "operator_review" + }, + { + "actions_sent": 352, + "chunks": 11, + "data_saved": true, + "operator_result": "failure", + "operator_stopped": true, + "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/flip_bread/data/round_0015", + "reviewed_at_ns": 1789570250305771791, + "round_number": 15, + "status": "completed", + "task_success": false, + "termination_reason": "operator_review" + } + ] +} diff --git a/eval/YAM/V2/dp/flip_bread/metadata/runtime/output.lock b/eval/YAM/V2/dp/flip_bread/metadata/runtime/output.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/eval/YAM/V2/dp/spatula_handoff/data/round_0002/camera/timestamp.pkl b/eval/YAM/V2/dp/spatula_handoff/data/round_0002/camera/timestamp.pkl new file mode 100644 index 0000000000000000000000000000000000000000..51a5456bee764a5c73ecac0b28ff15de050acadd Binary files /dev/null and b/eval/YAM/V2/dp/spatula_handoff/data/round_0002/camera/timestamp.pkl differ diff --git a/eval/YAM/V2/dp/spatula_handoff/data/round_0002/event/event_dict.pkl b/eval/YAM/V2/dp/spatula_handoff/data/round_0002/event/event_dict.pkl new file mode 100644 index 0000000000000000000000000000000000000000..1dd8cce04901122753db7ea624274ecba947a869 Binary files /dev/null and b/eval/YAM/V2/dp/spatula_handoff/data/round_0002/event/event_dict.pkl differ diff --git a/eval/YAM/V2/dp/spatula_handoff/data/round_0004/debug/validations/validation_0008.json b/eval/YAM/V2/dp/spatula_handoff/data/round_0004/debug/validations/validation_0008.json new file mode 100644 index 0000000000000000000000000000000000000000..8018e56338a7307514ee2006b124cccee47e5374 --- /dev/null +++ b/eval/YAM/V2/dp/spatula_handoff/data/round_0004/debug/validations/validation_0008.json @@ -0,0 +1,195 @@ +{ + "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 + ], + "current": [ + 0.024223697261005483, + 0.0005722133211261138, + 0.00705729762722207, + 0.09365224689097396, + -0.0207904173342488, + 0.037575341420614805, + 0.09545841168812383, + 0.05016403448538931, + 0.023079270618753256, + 0.014686808575570254, + -0.03833829251544962, + 0.010109102006561344, + -0.22106507972839218, + 0.0939011076522117 + ], + "current_velocity": [ + 0.0073260073260073, + -0.0073260073260073, + -0.0073260073260073, + -0.0073260073260073, + -0.0073260073260073, + 0.0073260073260073, + 0.00040003369984564687, + -0.0073260073260073, + 0.0073260073260073, + -0.0073260073260073, + -0.0073260073260073, + -0.0073260073260073, + -0.0073260073260073, + 0.0004004101885228345 + ], + "first_target": [ + 0.03445122390985489, + -0.016931727528572083, + -0.007247185800224543, + 0.1015576496720314, + 0.005914393812417984, + 0.05170890688896179, + 0.09569006413221359, + 0.04763615131378174, + 0.031806252896785736, + -0.0031536659225821495, + -0.04258192703127861, + 0.015450856648385525, + -0.2313321977853775, + 0.09361922740936279 + ], + "first_transition_velocity": [ + 0.30682579946548216, + -0.5251182254909459, + -0.4291345028233984, + 0.2371620834317234, + 0.8011443344000035, + 0.4240069640504096, + 0.006949573322692915, + -0.0758364951482271, + 0.2618094683409744, + -0.5352142349445721, + -0.1273090354748696, + 0.16025263925472544, + -0.30801354170955975, + -0.008456407285467177 + ], + "observation_state": [ + 0.024223696440458298, + 0.000572213320992887, + 0.007057297509163618, + 0.09365224838256836, + -0.02079041674733162, + 0.03757534176111221, + 0.09545841068029404, + 0.050164032727479935, + 0.023079270496964455, + 0.014686808921396732, + -0.03833829239010811, + 0.009727626107633114, + -0.22106507420539856, + 0.09390805661678314 + ], + "policy_metadata": { + "alignment_wait_ms": 4.564528004266322, + "checkpoint_path": 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