May 13 02:48:59 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:48:59Z INFO server] GRPC EtherCAT Slave 3 | commands sent 504.23 cmd/s, commands dropped 1.20 req/s, command time: 1.98 (max 18.07) ms May 13 02:49:00 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:00Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.9981 req/s May 13 02:49:00 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:00Z INFO server] GRPC EtherCAT Slave 4 | commands sent 490.20 cmd/s, commands dropped 1.43 req/s, command time: 2.04 (max 15.63) ms May 13 02:49:00 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:00Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.00125 req/s May 13 02:49:00 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:00Z INFO server] GRPC EtherCAT Slave 5 | commands sent 489.50 cmd/s, commands dropped 1.13 req/s, command time: 2.04 (max 19.41) ms May 13 02:49:00 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:00Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.00345 req/s May 13 02:49:00 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:00Z INFO server] GRPC EtherCAT Slave 6 | commands sent 511.70 cmd/s, commands dropped 1.17 req/s, command time: 1.95 (max 18.00) ms May 13 02:49:01 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:01Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 932.17 Hz May 13 02:49:11 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:11Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 926.35 Hz May 13 02:49:21 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:21Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 933.24 Hz May 13 02:49:29 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:29Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.0085 req/s May 13 02:49:29 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:29Z INFO server] GRPC EtherCAT Slave 0 | commands sent 508.01 cmd/s, commands dropped 1.40 req/s, command time: 1.97 (max 17.09) ms May 13 02:49:29 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:29Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99704 req/s May 13 02:49:29 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:29Z INFO server] GRPC EtherCAT Slave 1 | commands sent 489.22 cmd/s, commands dropped 1.10 req/s, command time: 2.04 (max 18.41) ms May 13 02:49:29 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:29Z INFO server] GRPC EtherCAT Slave 2 | commands sent 489.13 cmd/s, commands dropped 1.00 req/s, command time: 2.04 (max 18.30) ms May 13 02:49:29 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:29Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.00073 req/s May 13 02:49:29 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:29Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.00204 req/s May 13 02:49:29 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:29Z INFO server] GRPC EtherCAT Slave 3 | commands sent 504.13 cmd/s, commands dropped 0.63 req/s, command time: 1.98 (max 18.34) ms May 13 02:49:30 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:30Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.00143 req/s May 13 02:49:30 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:30Z INFO server] GRPC EtherCAT Slave 4 | commands sent 489.44 cmd/s, commands dropped 1.23 req/s, command time: 2.04 (max 18.40) ms May 13 02:49:30 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:30Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.00333 req/s May 13 02:49:30 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:30Z INFO server] GRPC EtherCAT Slave 5 | commands sent 489.07 cmd/s, commands dropped 0.87 req/s, command time: 2.04 (max 18.33) ms May 13 02:49:30 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:30Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.99057 req/s May 13 02:49:30 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:30Z INFO server] GRPC EtherCAT Slave 6 | commands sent 509.77 cmd/s, commands dropped 0.90 req/s, command time: 1.96 (max 18.39) ms May 13 02:49:31 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:31Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 930.10 Hz May 13 02:49:32 r2-0008 systemd[1]: Stopping Reachy2 Core... May 13 02:49:32 r2-0008 docker[10536]: Container core Stopping May 13 02:49:32 r2-0008 docker[10536]: Container core Stopping May 13 02:49:41 r2-0008 docker[5660]: core | [ethercat_master_server-1] [2026-05-13T00:49:41Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 927.25 Hz May 13 02:49:42 r2-0008 docker[10536]: Container core Stopped May 13 02:49:42 r2-0008 docker[10536]: Container core Removing May 13 02:49:42 r2-0008 docker[5660]: core exited with code 0 May 13 02:49:42 r2-0008 docker[10536]: Container core Removed May 13 02:49:42 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 13 02:49:42 r2-0008 systemd[1]: Stopped Reachy2 Core. May 13 02:49:42 r2-0008 systemd[1]: Starting Reachy2 Core... May 13 02:49:42 r2-0008 bash[11014]: What a clear sky to launch a [core] container May 13 02:49:42 r2-0008 systemd[1]: Started Reachy2 Core. May 13 02:49:42 r2-0008 docker[11055]: Container core Creating May 13 02:49:42 r2-0008 docker[11055]: Container core Created May 13 02:49:42 r2-0008 docker[11055]: Attaching to core May 13 02:49:43 r2-0008 docker[11055]: core | Input : Rode, Output: Rode May 13 02:49:43 r2-0008 docker[11055]: core | ALSA configuration generated with the following settings: May 13 02:49:43 r2-0008 docker[11055]: core | Sink Card: 1,0 May 13 02:49:43 r2-0008 docker[11055]: core | Source Card: 1,0 May 13 02:49:43 r2-0008 docker[11055]: core | Period Size: 512 May 13 02:49:43 r2-0008 docker[11055]: core | Buffer Size: 2048 May 13 02:49:43 r2-0008 docker[11055]: core | Sound config written to ~/.asoundrc May 13 02:49:44 r2-0008 docker[11055]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-13-00-49-44-005698-r2-0008-107 May 13 02:49:44 r2-0008 docker[11055]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 13 02:49:44 r2-0008 docker[11055]: core | No logs&bags to clear May 13 02:49:44 r2-0008 docker[11055]: core | [INFO] [launch.user]: May 13 02:49:44 r2-0008 docker[11055]: core | -------------------------------------------------- May 13 02:49:44 r2-0008 docker[11055]: core | Configuration May 13 02:49:44 r2-0008 docker[11055]: core | -------------------------------------------------- May 13 02:49:44 r2-0008 docker[11055]: core | May 13 02:49:44 r2-0008 docker[11055]: core | [reachy.yaml] configuration override May 13 02:49:44 r2-0008 docker[11055]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 13 02:49:44 r2-0008 docker[11055]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 02:49:44 r2-0008 docker[11055]: core | May 13 02:49:44 r2-0008 docker[11055]: core | Validating configuration files... May 13 02:49:44 r2-0008 docker[11055]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 13 02:49:44 r2-0008 docker[11055]: core | Reachy config loaded successfully May 13 02:49:44 r2-0008 docker[11055]: core | [INFO] [launch.user]: Reachy config : May 13 02:49:44 r2-0008 docker[11055]: core | robot_model full_kit May 13 02:49:44 r2-0008 docker[11055]: core | May 13 02:49:44 r2-0008 docker[11055]: core | [INFO] [launch.user]: Reachy URDF config : May 13 02:49:44 r2-0008 docker[11055]: core | depth_camera true May 13 02:49:44 r2-0008 docker[11055]: core | robot_config full_kit May 13 02:49:44 r2-0008 docker[11055]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 13 02:49:44 r2-0008 docker[11055]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 13 02:49:44 r2-0008 docker[11055]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 13 02:49:44 r2-0008 docker[11055]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 13 02:49:44 r2-0008 docker[11055]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 13 02:49:44 r2-0008 docker[11055]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 13 02:49:44 r2-0008 docker[11055]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 13 02:49:44 r2-0008 docker[11055]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 13 02:49:44 r2-0008 docker[11055]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 13 02:49:44 r2-0008 docker[11055]: core | robot_model "dvt" May 13 02:49:44 r2-0008 docker[11055]: core | May 13 02:49:44 r2-0008 docker[11055]: core | [INFO] [launch.user]: May 13 02:49:44 r2-0008 docker[11055]: core | -------------------------------------------------- May 13 02:49:44 r2-0008 docker[11055]: core | Launching nodes... May 13 02:49:44 r2-0008 docker[11055]: core | -------------------------------------------------- May 13 02:49:44 r2-0008 docker[11055]: core | May 13 02:49:44 r2-0008 docker[11055]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 13 02:49:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:45Z INFO server] POULPE controller ready! May 13 02:49:48 r2-0008 docker[11055]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 13 02:49:48 r2-0008 docker[11055]: core | [ros2_control_node-2] [WARN]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. May 13 02:49:48 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:48Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 13 02:49:48 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:48Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 13 02:49:48 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:48Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 13 02:49:48 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:48Z INFO server] Done! May 13 02:49:48 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:48Z INFO server] New client - update period of 0.002s May 13 02:49:48 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:48Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 13 02:49:48 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:48Z INFO poulpe_ethercat_controller] Slave 1, inital state: QuickStopActive May 13 02:49:48 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:48Z WARN poulpe_ethercat_controller] Slave 1 in OperationEnabled state, turning off May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [243] May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [233] May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [hal-4]: process started with pid [235] May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [fake_gz_interface-5]: process started with pid [237] May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [robot_state_publisher-6]: process started with pid [239] May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [241] May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [245] May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [component_container-10]: process started with pid [247] May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [goto_server-11]: process started with pid [249] May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [dynamic_state_router-12]: process started with pid [251] May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [rosbag-13]: process started with pid [253] May 13 02:49:49 r2-0008 docker[11055]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR running on ROS2 package rplidar_ros2.ROS2 SDK Version:1.0.1, RPLIDAR SDK Version:2.0.0 May 13 02:49:49 r2-0008 docker[11055]: core | [robot_state_publisher-6] [WARN]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 02:49:49 r2-0008 docker[11055]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 13 02:49:49 r2-0008 docker[11055]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 13 02:49:49 r2-0008 docker[11055]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] Done! May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] New client - update period of 0.002s May 13 02:49:49 r2-0008 docker[11055]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 13 02:49:49 r2-0008 docker[11055]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 13 02:49:49 r2-0008 docker[11055]: core | [rplidar_scan_publisher-3] [INFO]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:20.0 Hz, May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] Done! May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] New client - update period of 0.002s May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] Done! May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] New client - update period of 0.002s May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [05/13 00:49:49.742155][info][247][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [05/13 00:49:49.742179][info][247][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [05/13 00:49:49.742212][info][247][LinuxPal.cpp:32] createObPal: create LinuxPal! May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [05/13 00:49:49.745789][info][247][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [05/13 00:49:49.745825][info][247][DeviceManager.cpp:15] Current found device(s): (1) May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [05/13 00:49:49.745833][info][247][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 13 02:49:49 r2-0008 docker[11055]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Connecting to the default device May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] Done! May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] New client - update period of 0.002s May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-13-00-49-44-005698-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Listening for topics... May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Recording... May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 13 02:49:49 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Select device cost 159 ms May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] Done! May 13 02:49:49 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:49Z INFO server] New client - update period of 0.002s May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: current time domain: device May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Create align filter May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Depth process is HW D2D May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting LDP to ON May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting laser control to 1 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Available presets: May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Preset 0: Custom May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Preset 1: Default May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Load device preset: Default May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Device preset Default loaded May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: set DecimationFilter to false May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: set HDRMerge to false May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: set TemporalFilter to false May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Enable color stream May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Enable depth stream May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Enable frame sync May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Setting LDP to ON May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Current node pid: 247 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Start device cost 225 ms May 13 02:49:49 r2-0008 docker[11055]: core | [component_container-10] [INFO]: Initialize device cost 55 ms May 13 02:49:50 r2-0008 docker[11055]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 13 02:49:50 r2-0008 docker[11055]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 13 02:49:50 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:50Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 13 02:49:50 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:50Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 13 02:49:50 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:50Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 13 02:49:50 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:50Z INFO server] Done! May 13 02:49:50 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:50Z INFO server] New client - update period of 0.002s May 13 02:49:50 r2-0008 docker[11055]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 02:49:50 r2-0008 docker[11055]: core | [hal-4] [INFO]: Starting zuuu_hal! May 13 02:49:50 r2-0008 docker[11055]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 13 02:49:50 r2-0008 docker[11055]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 13 02:49:50 r2-0008 docker[11055]: core | [hal-4] May 13 02:49:50 r2-0008 docker[11055]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 02:49:50 r2-0008 docker[11055]: core | [hal-4] [INFO]: zuuu version: 1.2 May 13 02:49:50 r2-0008 docker[11055]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 13 02:49:50 r2-0008 docker[11055]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 13 02:49:50 r2-0008 docker[11055]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 13 02:49:50 r2-0008 docker[11055]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 13 02:49:50 r2-0008 docker[11055]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 13 02:49:50 r2-0008 docker[11055]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 13 02:49:50 r2-0008 docker[11055]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 13 02:49:50 r2-0008 docker[11055]: core | [hal-4] [WARN]: Battery voltage OK (25.9V) May 13 02:49:50 r2-0008 docker[11055]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 13 02:49:50 r2-0008 docker[11055]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 13 02:49:50 r2-0008 docker[11055]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 13 02:49:50 r2-0008 docker[11055]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 13 02:49:50 r2-0008 docker[11055]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 02:49:50 r2-0008 docker[11055]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [WARN]: New publisher discovered on topic '/joint_states', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 02:49:50 r2-0008 docker[11055]: core | [ros2_control_node-2] [WARN]: New subscription discovered on topic '/joint_states', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [WARN]: New publisher discovered on topic '/dynamic_joint_states', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 02:49:50 r2-0008 docker[11055]: core | [ros2_control_node-2] [WARN]: New subscription discovered on topic '/dynamic_joint_states', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY May 13 02:49:50 r2-0008 docker[11055]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: Setup done! May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - r_arm_forward_position_controller: ['r_shoulder_pitch', 'r_shoulder_roll', 'r_elbow_yaw', 'r_elbow_pitch', 'r_wrist_roll', 'r_wrist_pitch', 'r_wrist_yaw'] (position) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - l_arm_forward_position_controller: ['l_shoulder_pitch', 'l_shoulder_roll', 'l_elbow_yaw', 'l_elbow_pitch', 'l_wrist_roll', 'l_wrist_pitch', 'l_wrist_yaw'] (position) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - forward_torque_controller: ['neck', 'r_shoulder', 'r_elbow', 'r_wrist', 'r_hand', 'l_shoulder', 'l_elbow', 'l_wrist', 'l_hand', 'antenna_left', 'antenna_right'] (torque) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - forward_torque_limit_controller: ['neck_raw_motor_1', 'neck_raw_motor_2', 'neck_raw_motor_3', 'r_shoulder_raw_motor_1', 'r_shoulder_raw_motor_2', 'r_elbow_raw_motor_1', 'r_elbow_raw_motor_2', 'r_wrist_raw_motor_1', 'r_wrist_raw_motor_2', 'r_wrist_raw_motor_3', 'r_hand_raw_motor_1', 'l_shoulder_raw_motor_1', 'l_shoulder_raw_motor_2', 'l_elbow_raw_motor_1', 'l_elbow_raw_motor_2', 'l_wrist_raw_motor_1', 'l_wrist_raw_motor_2', 'l_wrist_raw_motor_3', 'l_hand_raw_motor_1', 'antenna_left_raw_motor', 'antenna_right_raw_motor'] (torque_limit) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - forward_speed_limit_controller: ['neck_raw_motor_1', 'neck_raw_motor_2', 'neck_raw_motor_3', 'r_shoulder_raw_motor_1', 'r_shoulder_raw_motor_2', 'r_elbow_raw_motor_1', 'r_elbow_raw_motor_2', 'r_wrist_raw_motor_1', 'r_wrist_raw_motor_2', 'r_wrist_raw_motor_3', 'r_hand_raw_motor_1', 'l_shoulder_raw_motor_1', 'l_shoulder_raw_motor_2', 'l_elbow_raw_motor_1', 'l_elbow_raw_motor_2', 'l_wrist_raw_motor_1', 'l_wrist_raw_motor_2', 'l_wrist_raw_motor_3', 'l_hand_raw_motor_1', 'antenna_left_raw_motor', 'antenna_right_raw_motor'] (speed_limit) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - forward_pid_controller: ['neck_raw_motor_1', 'neck_raw_motor_2', 'neck_raw_motor_3', 'r_shoulder_raw_motor_1', 'r_shoulder_raw_motor_2', 'r_elbow_raw_motor_1', 'r_elbow_raw_motor_2', 'r_wrist_raw_motor_1', 'r_wrist_raw_motor_2', 'r_wrist_raw_motor_3', 'r_hand_raw_motor_1', 'l_shoulder_raw_motor_1', 'l_shoulder_raw_motor_2', 'l_elbow_raw_motor_1', 'l_elbow_raw_motor_2', 'l_wrist_raw_motor_1', 'l_wrist_raw_motor_2', 'l_wrist_raw_motor_3', 'l_hand_raw_motor_1', 'antenna_left_raw_motor', 'antenna_right_raw_motor'] (pid) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 13 02:49:50 r2-0008 docker[11055]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 13 02:49:50 r2-0008 docker[11055]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [WARN]: A new publisher for subscribed topic /dynamic_joint_states was found offering RMW_QOS_POLICY_DURABILITY_VOLATILE, but rosbag2 already subscribed requesting RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL. Messages from this new publisher will not be recorded. May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [WARN]: A new publisher for subscribed topic /joint_states was found offering RMW_QOS_POLICY_DURABILITY_VOLATILE, but rosbag2 already subscribed requesting RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL. Messages from this new publisher will not be recorded. May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 13 02:49:50 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 13 02:49:51 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 13 02:49:51 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 241] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [828] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [forward_torque_controller-14]: process started with pid [800] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [802] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [804] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [forward_pid_controller-17]: process started with pid [806] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [gripper_current_controller-18]: process started with pid [808] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [gripper_mode_controller-19]: process started with pid [810] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [antenna_current_controller-20]: process started with pid [812] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [antenna_mode_controller-21]: process started with pid [814] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [816] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [818] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [820] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [822] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [824] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [826] May 13 02:49:51 r2-0008 docker[11055]: core | [INFO] [rviz2-29]: process started with pid [830] May 13 02:49:51 r2-0008 docker[11055]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 13 02:49:52 r2-0008 docker[11055]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 13 02:49:52 r2-0008 docker[11055]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 13 02:49:52 r2-0008 docker[11055]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 13 02:49:52 r2-0008 docker[11055]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1177] May 13 02:49:52 r2-0008 docker[11055]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 13 02:49:52 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 13 02:49:52 r2-0008 docker[11055]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 13 02:49:52 r2-0008 docker[11055]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 13 02:49:52 r2-0008 docker[11055]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 13 02:49:52 r2-0008 docker[11055]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 13 02:49:52 r2-0008 docker[11055]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 13 02:49:52 r2-0008 docker[11055]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 13 02:49:52 r2-0008 docker[11055]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 13 02:49:52 r2-0008 docker[11055]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 13 02:49:52 r2-0008 docker[11055]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 13 02:49:52 r2-0008 docker[11055]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 13 02:49:52 r2-0008 docker[11055]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 13 02:49:52 r2-0008 docker[11055]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 13 02:49:52 r2-0008 docker[11055]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 13 02:49:52 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 13 02:49:52 r2-0008 docker[11055]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 13 02:49:52 r2-0008 docker[11055]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 13 02:49:52 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 13 02:49:52 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 13 02:49:52 r2-0008 docker[11055]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 806] May 13 02:49:52 r2-0008 docker[11055]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 13 02:49:52 r2-0008 docker[11055]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 13 02:49:52 r2-0008 docker[11055]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 814] May 13 02:49:52 r2-0008 docker[11055]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 13 02:49:52 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 13 02:49:52 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 13 02:49:52 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 13 02:49:52 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 13 02:49:52 r2-0008 docker[11055]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 804] May 13 02:49:52 r2-0008 docker[11055]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 812] May 13 02:49:52 r2-0008 docker[11055]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 824] May 13 02:49:52 r2-0008 docker[11055]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 822] May 13 02:49:52 r2-0008 docker[11055]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 802] May 13 02:49:52 r2-0008 docker[11055]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 810] May 13 02:49:53 r2-0008 docker[11055]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 826] May 13 02:49:53 r2-0008 docker[11055]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 820] May 13 02:49:53 r2-0008 docker[11055]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 800] May 13 02:49:53 r2-0008 docker[11055]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 808] May 13 02:49:53 r2-0008 docker[11055]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 818] May 13 02:49:53 r2-0008 docker[11055]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 816] May 13 02:49:53 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] **************************************** May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 55.094ms May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] **************************************** May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 02:49:53 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 13 02:49:53 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 13 02:49:53 r2-0008 docker[11055]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 13 02:49:53 r2-0008 docker[11055]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [PID 1177] Starting grpc server at 50051 May 13 02:49:53 r2-0008 docker[11055]: core | [goto_server-11] [INFO]: Goto action server head init. May 13 02:49:53 r2-0008 docker[11055]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 13 02:49:53 r2-0008 docker[11055]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 13 02:49:53 r2-0008 docker[11055]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 13 02:49:53 r2-0008 docker[11055]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 13 02:49:53 r2-0008 docker[11055]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 13 02:49:53 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 13 02:49:53 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 13 02:49:53 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:53Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.14334 req/s May 13 02:49:53 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:53Z INFO server] GRPC EtherCAT Slave 0 | commands sent 286.97 cmd/s, commands dropped 0.40 req/s, command time: 3.48 (max 1920.96) ms May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 1.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 24.074434280395508, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 23.198638916015625, 'speed_limit': 1.0, 'motor_currents': -4469.5439453125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.010929425247013569}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': 0.17505957186222076, 'velocity': -4.203895392974451e-45, 'effort': -33.44562911987305, 'axis_sensor': 0.17473626136779785, 'target_position': 0.17505957186222076}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow, id=4, type=orbita2d, extra={'name': 'l_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_raw_motor_1, id=5, type=unknown, extra={} state={'torque_limit': 0.4000000059604645, 'speed_limit': 75.56999969482422, 'temperature': 27.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 23.58477020263672, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 23.03863525390625, 'speed_limit': 1.0, 'motor_currents': 6.9665093421936035, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': -0.17481030523777008, 'velocity': -8.407790785948902e-45, 'effort': 16.48248863220215, 'axis_sensor': -0.17699956893920898, 'target_position': -0.17481030523777008}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_finger, id=8, type=unknown, extra={} state={'position': 2.2687575817108154, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.2687575817108154}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': -0.00024550838861614466, 'velocity': 4.203895392974451e-45, 'effort': 51.231929779052734, 'axis_sensor': -0.0005426406860351562, 'target_position': -0.00024550838861614466}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_hand_raw_motor_1, id=10, type=unknown, extra={} state={'torque_limit': 0.4000000059604645, 'speed_limit': 75.56999969482422, 'temperature': 27.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow, id=11, type=orbita2d, extra={'name': 'r_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 23.548410415649414, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 22.92242431640625, 'speed_limit': 1.0, 'motor_currents': -16.97686004638672, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.17767493426799774, 'velocity': 3.0828566215145976e-44, 'effort': 1.8718416690826416, 'axis_sensor': -0.18659555912017822, 'target_position': 0.17767493426799774}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder, id=14, type=orbita2d, extra={'name': 'r_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right_raw_motor, id=15, type=unknown, extra={} state={'torque_limit': 0.4000000059604645, 'speed_limit': 38.84902572631836, 'temperature': 22.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 24.38316535949707, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 23.3231201171875, 'speed_limit': 1.0, 'motor_currents': 14.402986526489258, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder, id=17, type=orbita2d, extra={'name': 'l_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left_raw_motor, id=18, type=unknown, extra={} state={'torque_limit': 0.4000000059604645, 'speed_limit': 38.84902572631836, 'temperature': 21.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 23.75281524658203, 'motor_velocities': -0.00017803828814066947, 'torque_limit': 1.0, 'motor_temperature': 23.610443115234375, 'speed_limit': 1.0, 'motor_currents': -14674.9443359375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.5521027445793152}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 23.46791648864746, 'motor_velocities': 1.0789998175301091e-43, 'torque_limit': 1.0, 'motor_temperature': 23.1658935546875, 'speed_limit': 1.0, 'motor_currents': -0.6093352437019348, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.01994180679321289, 'velocity': 0.0025112777948379517, 'effort': -4.999999873689376e-06, 'torque': 1.0, 'target_position': 0.021475791931152344}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': -0.17439983785152435, 'velocity': 2.3919265004224144e-05, 'effort': -23561.2578125, 'target_position': -0.17439983785152435}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 23.76936912536621, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 23.183929443359375, 'speed_limit': 1.0, 'motor_currents': 2572.479248046875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.01331965159624815}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 23.905834197998047, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 22.752166748046875, 'speed_limit': 1.0, 'motor_currents': -14653.5751953125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.013788223266601562}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': -8.060259278863668e-05, 'velocity': -6.38369529042393e-05, 'effort': -38789.34765625, 'target_position': -7.592709152959287e-05}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': 1.4918405213393271e-05, 'velocity': 2.446746475470718e-05, 'effort': -194032.375, 'target_position': 1.4918405213393271e-05}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck, id=27, type=orbita3d, extra={'name': 'neck', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 23.2908992767334, 'motor_velocities': -9.246359233827661e-11, 'torque_limit': 1.0, 'motor_temperature': 24.877655029296875, 'speed_limit': 1.0, 'motor_currents': -6915.41259765625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.5587091445922852}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': -0.0024672558065503836, 'velocity': -2.6624670822171524e-44, 'effort': 5.074341773986816, 'axis_sensor': -0.009907245635986328, 'target_position': -0.0024672558065503836}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=drivewhl1_joint, id=30, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'target_position': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 24.08523941040039, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 23.070037841796875, 'speed_limit': 1.0, 'motor_currents': 9.939062118530273, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=drivewhl3_joint, id=32, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'target_position': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': -0.0004151680914219469, 'velocity': 9.143765055341646e-06, 'effort': 51746.8359375, 'target_position': -0.0004117668722756207}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=tripod_joint, id=34, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'effort': 0.0, 'target_position': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 23.27559471130371, 'motor_velocities': 2.933544520853561e-27, 'torque_limit': 1.0, 'motor_temperature': 23.850616455078125, 'speed_limit': 1.0, 'motor_currents': 4676.06787109375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.0055936179123818874}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 24.449522018432617, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 22.956939697265625, 'speed_limit': 1.0, 'motor_currents': 8.711947441101074, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 23.93669319152832, 'motor_velocities': 5.885453550164232e-44, 'torque_limit': 1.0, 'motor_temperature': 23.34771728515625, 'speed_limit': 1.0, 'motor_currents': -14790.5634765625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.00749524449929595}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=drivewhl2_joint, id=38, type=unknown, extra={} state={'position': 0.0, 'velocity': 0.0, 'target_position': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.030679702758789062, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.030679702758789062}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 24.03879737854004, 'motor_velocities': 8.784926467342302e-05, 'torque_limit': 1.0, 'motor_temperature': 22.50787353515625, 'speed_limit': 1.0, 'motor_currents': -9909.8974609375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.009977340698242188}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist, id=41, type=orbita3d, extra={'name': 'r_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': -0.000531901081558317, 'velocity': -0.0, 'effort': 9272.6455078125, 'target_position': -0.000531901081558317}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist, id=43, type=orbita3d, extra={'name': 'l_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': 0.0007724260212853551, 'velocity': 2.802596928649634e-45, 'effort': 26144.91796875, 'target_position': 0.0007724260212853551}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 24.083072662353516, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 23.0574951171875, 'speed_limit': 1.0, 'motor_currents': -4.954923629760742, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 1.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': -0.0005966517492197454, 'velocity': 1.401298464324817e-45, 'effort': -81844.59375, 'target_position': -0.0005966517492197454}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': -0.0008913090568967164, 'velocity': 0.0, 'effort': 8.597397804260254, 'axis_sensor': -0.0008940696716308594, 'target_position': -0.0008913090568967164}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': -0.00029388227267190814, 'velocity': -1.2611686178923354e-44, 'effort': 11.042903900146484, 'axis_sensor': -0.002632617950439453, 'target_position': -0.00029388227267190814}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': 0.0007347192731685936, 'velocity': -5.451785245469409e-09, 'effort': 30693.6640625, 'target_position': 0.0007266000611707568}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': -0.0004886134993284941, 'velocity': -5.975290378046338e-07, 'effort': 1302.4559326171875, 'target_position': -0.0004886134993284941}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 23.365589141845703, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 23.040191650390625, 'speed_limit': 1.0, 'motor_currents': -8.512467384338379, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_hand_finger, id=53, type=unknown, extra={} state={'position': 2.2687575817108154, 'velocity': 0.0, 'effort': 0.0, 'target_position': 2.2687575817108154}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 22.987472534179688, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 24.566558837890625, 'speed_limit': 1.0, 'motor_currents': 10343.6962890625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.0056088767014443874}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.1757904291152954, 'velocity': -0.0, 'effort': 44.216854095458984, 'axis_sensor': -0.18321388959884644, 'target_position': -0.1757904291152954}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='r_arm', id=1, type='arm', components=[Component(name=r_shoulder, id=14, type=orbita2d, extra={'name': 'r_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), Component(name=r_elbow, id=11, type=orbita2d, extra={'name': 'r_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), Component(name=r_wrist, id=41, type=orbita3d, extra={'name': 'r_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})], components_dict={'shoulder': Component(name=r_shoulder, id=14, type=orbita2d, extra={'name': 'r_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), 'elbow': Component(name=r_elbow, id=11, type=orbita2d, extra={'name': 'r_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), 'wrist': Component(name=r_wrist, id=41, type=orbita3d, extra={'name': 'r_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='l_arm', id=2, type='arm', components=[Component(name=l_shoulder, id=17, type=orbita2d, extra={'name': 'l_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), Component(name=l_elbow, id=4, type=orbita2d, extra={'name': 'l_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), Component(name=l_wrist, id=43, type=orbita3d, extra={'name': 'l_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})], components_dict={'shoulder': Component(name=l_shoulder, id=17, type=orbita2d, extra={'name': 'l_shoulder', 'actuator': 'orbita2d', 'axis1': 'pitch', 'axis2': 'roll'} state={'torque': 0.0, 'errors': 0.0}), 'elbow': Component(name=l_elbow, id=4, type=orbita2d, extra={'name': 'l_elbow', 'actuator': 'orbita2d', 'axis1': 'yaw', 'axis2': 'pitch'} state={'torque': 0.0, 'errors': 0.0}), 'wrist': Component(name=l_wrist, id=43, type=orbita3d, extra={'name': 'l_wrist', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0})}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='head', id=3, type='head', components=[Component(name=neck, id=27, type=orbita3d, extra={'name': 'neck', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}), Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.01994180679321289, 'velocity': 0.0025112777948379517, 'effort': -4.999999873689376e-06, 'torque': 1.0, 'target_position': 0.021475791931152344}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.030679702758789062, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.030679702758789062})], components_dict={'neck': Component(name=neck, id=27, type=orbita3d, extra={'name': 'neck', 'actuator': 'orbita3d', 'axis1': 'roll', 'axis2': 'pitch', 'axis3': 'yaw'} state={'torque': 0.0, 'errors': 0.0, 'control_mode': 1.0}), 'antenna_left': Component(name=antenna_left, id=21, type=dynamixel, extra={'name': 'antenna_left', 'actuator': 'dynamixel'} state={'position': 0.01994180679321289, 'velocity': 0.0025112777948379517, 'effort': -4.999999873689376e-06, 'torque': 1.0, 'target_position': 0.021475791931152344}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.030679702758789062, 'velocity': 0.0025112777948379517, 'effort': 0.0, 'torque': 1.0, 'target_position': -0.030679702758789062})}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='l_hand', id=4, type='hand', components=[Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})], components_dict={'hand': Component(name=l_hand, id=46, type=dynamixel, extra={'name': 'l_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='r_hand', id=5, type='hand', components=[Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})], components_dict={'hand': Component(name=r_hand, id=1, type=dynamixel, extra={'name': 'r_hand', 'actuator': 'dynamixel'} state={'torque': 1.0})}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 13 02:49:53 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Setup complete. May 13 02:49:54 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 13 02:49:54 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Initialized mobile base server. May 13 02:49:54 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Reachy GRPC Joint SDK Servicer initialized. May 13 02:49:54 r2-0008 docker[11055]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'DynamixelMotorServiceServicer' to server. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'GoToServiceServicer' to server. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HandServiceServicer' to server. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HeadServiceServicer' to server. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'MobileBaseServicer' to server. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita2dServiceServicer' to server. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita3dServiceServicer' to server. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'TripodServiceServicer' to server. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [PID 1177] Ready to start May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Server started on port 50051. May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_joint_sdk_server-30] [PID 1177] Server started on port 50051. May 13 02:49:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:54Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.0318 req/s May 13 02:49:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:54Z INFO server] GRPC EtherCAT Slave 1 | commands sent 340.66 cmd/s, commands dropped 1.20 req/s, command time: 2.94 (max 1230.56) ms May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 13 02:49:54 r2-0008 docker[11055]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 13 02:49:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:54Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.13004 req/s May 13 02:49:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:54Z INFO server] GRPC EtherCAT Slave 2 | commands sent 359.90 cmd/s, commands dropped 0.40 req/s, command time: 2.78 (max 1109.14) ms May 13 02:49:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:54Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.17014 req/s May 13 02:49:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:54Z INFO server] GRPC EtherCAT Slave 3 | commands sent 391.98 cmd/s, commands dropped 0.60 req/s, command time: 2.55 (max 886.81) ms May 13 02:49:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:54Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.1792 req/s May 13 02:49:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:54Z INFO server] GRPC EtherCAT Slave 4 | commands sent 385.33 cmd/s, commands dropped 1.80 req/s, command time: 2.60 (max 869.80) ms May 13 02:49:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:54Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.05978 req/s May 13 02:49:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:54Z INFO server] GRPC EtherCAT Slave 5 | commands sent 394.03 cmd/s, commands dropped 0.60 req/s, command time: 2.54 (max 665.59) ms May 13 02:49:55 r2-0008 docker[11055]: core | [INFO] [launch.user]: May 13 02:49:55 r2-0008 docker[11055]: core | -------------------------------------------------- May 13 02:49:55 r2-0008 docker[11055]: core | Node Watcher Report May 13 02:49:55 r2-0008 docker[11055]: core | Logging to /home/reachy/.ros/log/2026-05-13-00-49-44-005698-r2-0008-107 May 13 02:49:55 r2-0008 docker[11055]: core | Un-monitored nodes[11/26] May 13 02:49:55 r2-0008 docker[11055]: core | Failed[0/15]: [] May 13 02:49:55 r2-0008 docker[11055]: core | Success[15/15]: ['joint_state_broadcaster', 'forward_pid_controller', 'antenna_mode_controller', 'forward_speed_limit_controller', 'antenna_current_controller', 'l_arm_forward_position_controller', 'r_arm_forward_position_controller', 'forward_torque_limit_controller', 'gripper_mode_controller', 'gripper_forward_position_controller', 'tripod_forward_position_controller', 'forward_torque_controller', 'gripper_current_controller', 'antenna_forward_position_controller', 'neck_forward_position_controller'] May 13 02:49:55 r2-0008 docker[11055]: core | -------------------------------------------------- May 13 02:49:55 r2-0008 docker[11055]: core | May 13 02:49:55 r2-0008 docker[11055]: core | [INFO] [aplay-31]: process details: cmd='aplay /home/reachy/dev/reachy2_sounds/MA_BANT_GAME_PACK_2.wav', cwd='None', custom_env?=True May 13 02:49:55 r2-0008 docker[11055]: core | [INFO] [aplay-31]: process started with pid [1362] May 13 02:49:55 r2-0008 docker[11055]: core | [aplay-31] Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_GAME_PACK_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo May 13 02:49:55 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:55Z INFO server] GRPC EtherCAT Slave 6 | commands sent 432.59 cmd/s, commands dropped 0.40 req/s, command time: 2.31 (max 462.44) ms May 13 02:49:55 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:55Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.0423 req/s May 13 02:49:55 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:49:55Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 926.14 Hz May 13 02:49:55 r2-0008 docker[11055]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1362] May 13 02:50:05 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:05Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 935.78 Hz May 13 02:50:15 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:15Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 933.21 Hz May 13 02:50:23 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:23Z INFO server] GRPC EtherCAT Slave 0 | states sent 499.9956 req/s May 13 02:50:23 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:23Z INFO server] GRPC EtherCAT Slave 0 | commands sent 504.18 cmd/s, commands dropped 0.80 req/s, command time: 1.98 (max 15.00) ms May 13 02:50:24 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:24Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.00928 req/s May 13 02:50:24 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:24Z INFO server] GRPC EtherCAT Slave 1 | commands sent 492.19 cmd/s, commands dropped 0.80 req/s, command time: 2.03 (max 15.07) ms May 13 02:50:24 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:24Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.99927 req/s May 13 02:50:24 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:24Z INFO server] GRPC EtherCAT Slave 2 | commands sent 491.77 cmd/s, commands dropped 0.63 req/s, command time: 2.03 (max 15.40) ms May 13 02:50:24 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:24Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.9957 req/s May 13 02:50:24 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:24Z INFO server] GRPC EtherCAT Slave 3 | commands sent 504.76 cmd/s, commands dropped 0.70 req/s, command time: 1.98 (max 15.03) ms May 13 02:50:24 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:24Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.99475 req/s May 13 02:50:24 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:24Z INFO server] GRPC EtherCAT Slave 4 | commands sent 491.30 cmd/s, commands dropped 0.50 req/s, command time: 2.04 (max 14.92) ms May 13 02:50:24 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:24Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.9952 req/s May 13 02:50:24 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:24Z INFO server] GRPC EtherCAT Slave 5 | commands sent 491.14 cmd/s, commands dropped 0.60 req/s, command time: 2.04 (max 15.09) ms May 13 02:50:25 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:25Z INFO server] GRPC EtherCAT Slave 6 | commands sent 508.68 cmd/s, commands dropped 0.77 req/s, command time: 1.97 (max 15.46) ms May 13 02:50:25 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:25Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.00058 req/s May 13 02:50:25 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:25Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 938.14 Hz May 13 02:50:35 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:35Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 934.78 Hz May 13 02:50:45 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:45Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 937.62 Hz May 13 02:50:50 r2-0008 docker[11055]: core | [hal-4] [WARN]: Battery voltage OK (25.9V) May 13 02:50:53 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:53Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.00635 req/s May 13 02:50:53 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:53Z INFO server] GRPC EtherCAT Slave 0 | commands sent 505.54 cmd/s, commands dropped 0.90 req/s, command time: 1.98 (max 14.27) ms May 13 02:50:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:54Z INFO server] GRPC EtherCAT Slave 1 | commands sent 493.18 cmd/s, commands dropped 0.77 req/s, command time: 2.03 (max 14.31) ms May 13 02:50:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:54Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99658 req/s May 13 02:50:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:54Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.99078 req/s May 13 02:50:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:54Z INFO server] GRPC EtherCAT Slave 2 | commands sent 491.17 cmd/s, commands dropped 0.77 req/s, command time: 2.04 (max 14.30) ms May 13 02:50:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:54Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.99863 req/s May 13 02:50:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:54Z INFO server] GRPC EtherCAT Slave 3 | commands sent 503.88 cmd/s, commands dropped 0.90 req/s, command time: 1.98 (max 14.28) ms May 13 02:50:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:54Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.00006 req/s May 13 02:50:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:54Z INFO server] GRPC EtherCAT Slave 4 | commands sent 492.13 cmd/s, commands dropped 0.77 req/s, command time: 2.03 (max 15.32) ms May 13 02:50:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:54Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.00076 req/s May 13 02:50:54 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:54Z INFO server] GRPC EtherCAT Slave 5 | commands sent 491.56 cmd/s, commands dropped 0.70 req/s, command time: 2.03 (max 14.69) ms May 13 02:50:55 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:55Z INFO server] GRPC EtherCAT Slave 6 | commands sent 509.40 cmd/s, commands dropped 0.97 req/s, command time: 1.96 (max 15.41) ms May 13 02:50:55 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:55Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.99805 req/s May 13 02:50:55 r2-0008 docker[11055]: core | [ethercat_master_server-1] [2026-05-13T00:50:55Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 936.44 Hz