May 14 03:50:51 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:50:51Z INFO server] GRPC EtherCAT Slave 3 | commands sent 503.24 cmd/s, commands dropped 1.23 req/s, command time: 1.99 (max 14.31) ms May 14 03:50:51 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:50:51Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.01074 req/s May 14 03:50:51 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:50:51Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.00073 req/s May 14 03:50:51 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:50:51Z INFO server] GRPC EtherCAT Slave 4 | commands sent 492.40 cmd/s, commands dropped 0.87 req/s, command time: 2.03 (max 14.39) ms May 14 03:50:52 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:50:52Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.9992 req/s May 14 03:50:52 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:50:52Z INFO server] GRPC EtherCAT Slave 5 | commands sent 492.50 cmd/s, commands dropped 1.07 req/s, command time: 2.03 (max 15.66) ms May 14 03:50:52 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:50:52Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.9934 req/s May 14 03:50:52 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:50:52Z INFO server] GRPC EtherCAT Slave 6 | commands sent 510.46 cmd/s, commands dropped 1.00 req/s, command time: 1.96 (max 14.23) ms May 14 03:50:53 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:50:53Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 938.03 Hz May 14 03:51:03 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:51:03Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 935.04 Hz May 14 03:51:10 r2-0008 systemd[1]: Stopping Reachy2 Core... May 14 03:51:10 r2-0008 docker[63616]: Container core Stopping May 14 03:51:10 r2-0008 docker[63616]: Container core Stopping May 14 03:51:13 r2-0008 docker[54860]: core | [ethercat_master_server-1] [2026-05-14T01:51:13Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 933.90 Hz May 14 03:51:18 r2-0008 docker[54860]: core | [hal-4] [WARN]: Battery voltage OK (25.6V) May 14 03:51:20 r2-0008 docker[63616]: Container core Stopped May 14 03:51:20 r2-0008 docker[63616]: Container core Removing May 14 03:51:20 r2-0008 docker[54860]: core exited with code 0 May 14 03:51:20 r2-0008 docker[63616]: Container core Removed May 14 03:51:20 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 14 03:51:20 r2-0008 systemd[1]: Stopped Reachy2 Core. May 14 03:51:20 r2-0008 systemd[1]: Starting Reachy2 Core... May 14 03:51:20 r2-0008 bash[64258]: What a clear sky to launch a [core] container May 14 03:51:20 r2-0008 systemd[1]: Started Reachy2 Core. May 14 03:51:20 r2-0008 docker[64299]: Container core Creating May 14 03:51:20 r2-0008 docker[64299]: Container core Created May 14 03:51:20 r2-0008 docker[64299]: Attaching to core May 14 03:51:21 r2-0008 docker[64299]: core | Input : Rode, Output: Rode May 14 03:51:21 r2-0008 docker[64299]: core | ALSA configuration generated with the following settings: May 14 03:51:21 r2-0008 docker[64299]: core | Sink Card: 1,0 May 14 03:51:21 r2-0008 docker[64299]: core | Source Card: 1,0 May 14 03:51:21 r2-0008 docker[64299]: core | Period Size: 512 May 14 03:51:21 r2-0008 docker[64299]: core | Buffer Size: 2048 May 14 03:51:21 r2-0008 docker[64299]: core | Sound config written to ~/.asoundrc May 14 03:51:21 r2-0008 docker[64299]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-14-01-51-21-536904-r2-0008-107 May 14 03:51:21 r2-0008 docker[64299]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 14 03:51:22 r2-0008 docker[64299]: core | No logs&bags to clear May 14 03:51:22 r2-0008 docker[64299]: core | [INFO] [launch.user]: May 14 03:51:22 r2-0008 docker[64299]: core | -------------------------------------------------- May 14 03:51:22 r2-0008 docker[64299]: core | Configuration May 14 03:51:22 r2-0008 docker[64299]: core | -------------------------------------------------- May 14 03:51:22 r2-0008 docker[64299]: core | May 14 03:51:22 r2-0008 docker[64299]: core | [reachy.yaml] configuration override May 14 03:51:22 r2-0008 docker[64299]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 14 03:51:22 r2-0008 docker[64299]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 14 03:51:22 r2-0008 docker[64299]: core | May 14 03:51:22 r2-0008 docker[64299]: core | Validating configuration files... May 14 03:51:22 r2-0008 docker[64299]: core | Reachy config loaded successfully May 14 03:51:22 r2-0008 docker[64299]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 14 03:51:22 r2-0008 docker[64299]: core | [INFO] [launch.user]: Reachy config : May 14 03:51:22 r2-0008 docker[64299]: core | robot_model full_kit May 14 03:51:22 r2-0008 docker[64299]: core | May 14 03:51:22 r2-0008 docker[64299]: core | [INFO] [launch.user]: Reachy URDF config : May 14 03:51:22 r2-0008 docker[64299]: core | depth_camera true May 14 03:51:22 r2-0008 docker[64299]: core | robot_config full_kit May 14 03:51:22 r2-0008 docker[64299]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 14 03:51:22 r2-0008 docker[64299]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 14 03:51:22 r2-0008 docker[64299]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 14 03:51:22 r2-0008 docker[64299]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 14 03:51:22 r2-0008 docker[64299]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 14 03:51:22 r2-0008 docker[64299]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 14 03:51:22 r2-0008 docker[64299]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 14 03:51:22 r2-0008 docker[64299]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 14 03:51:22 r2-0008 docker[64299]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 14 03:51:22 r2-0008 docker[64299]: core | robot_model "dvt" May 14 03:51:22 r2-0008 docker[64299]: core | May 14 03:51:22 r2-0008 docker[64299]: core | [INFO] [launch.user]: May 14 03:51:22 r2-0008 docker[64299]: core | -------------------------------------------------- May 14 03:51:22 r2-0008 docker[64299]: core | Launching nodes... May 14 03:51:22 r2-0008 docker[64299]: core | -------------------------------------------------- May 14 03:51:22 r2-0008 docker[64299]: core | May 14 03:51:22 r2-0008 docker[64299]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 14 03:51:22 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:22Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:23 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:23Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 14 03:51:23 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:23Z INFO server] POULPE controller ready! May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 14 03:51:26 r2-0008 docker[64299]: 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 14 03:51:26 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:26Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 14 03:51:26 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:26Z INFO poulpe_ethercat_controller] Slave 0, inital state: QuickStopActive May 14 03:51:26 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:26Z WARN poulpe_ethercat_controller] Slave 0 in OperationEnabled state, turning off May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [194] May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [184] May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [hal-4]: process started with pid [186] May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [fake_gz_interface-5]: process started with pid [188] May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [robot_state_publisher-6]: process started with pid [190] May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [192] May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [196] May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [component_container-10]: process started with pid [198] May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [goto_server-11]: process started with pid [200] May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [dynamic_state_router-12]: process started with pid [202] May 14 03:51:26 r2-0008 docker[64299]: core | [INFO] [rosbag-13]: process started with pid [204] May 14 03:51:26 r2-0008 docker[64299]: 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 14 03:51:26 r2-0008 docker[64299]: 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 14 03:51:26 r2-0008 docker[64299]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 14 03:51:26 r2-0008 docker[64299]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 14 03:51:26 r2-0008 docker[64299]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 14 03:51:26 r2-0008 docker[64299]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 14 03:51:26 r2-0008 docker[64299]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 14 03:51:26 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 14 03:51:27 r2-0008 docker[64299]: 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 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [05/14 01:51:27.188132][info][198][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [05/14 01:51:27.188157][info][198][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [05/14 01:51:27.188181][info][198][LinuxPal.cpp:32] createObPal: create LinuxPal! May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [05/14 01:51:27.197182][info][198][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [05/14 01:51:27.197236][info][198][DeviceManager.cpp:15] Current found device(s): (1) May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [05/14 01:51:27.197245][info][198][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 14 03:51:27 r2-0008 docker[64299]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Connecting to the default device May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-14-01-51-21-536904-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Listening for topics... May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Recording... May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Select device cost 163 ms May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: current time domain: device May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Create align filter May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Depth process is HW D2D May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting LDP to ON May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting laser control to 1 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Available presets: May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Preset 0: Custom May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Preset 1: Default May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Load device preset: Default May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Device preset Default loaded May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: set DecimationFilter to false May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: set HDRMerge to false May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: set TemporalFilter to false May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Enable color stream May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Enable depth stream May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Enable frame sync May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Setting LDP to ON May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Current node pid: 198 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Start device cost 238 ms May 14 03:51:27 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Initialize device cost 65 ms May 14 03:51:27 r2-0008 docker[64299]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 14 03:51:27 r2-0008 docker[64299]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 14 03:51:27 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:27 r2-0008 docker[64299]: core | [hal-4] [INFO]: Starting zuuu_hal! May 14 03:51:27 r2-0008 docker[64299]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 14 03:51:27 r2-0008 docker[64299]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 14 03:51:27 r2-0008 docker[64299]: core | [hal-4] May 14 03:51:27 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:27 r2-0008 docker[64299]: core | [hal-4] [INFO]: zuuu version: 1.2 May 14 03:51:27 r2-0008 docker[64299]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 14 03:51:27 r2-0008 docker[64299]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 14 03:51:27 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 14 03:51:27 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 14 03:51:27 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 14 03:51:27 r2-0008 docker[64299]: core | [hal-4] [WARN]: Battery voltage OK (25.7V) May 14 03:51:27 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 14 03:51:27 r2-0008 docker[64299]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 14 03:51:27 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 14 03:51:27 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 14 03:51:27 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 14 03:51:27 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 14 03:51:28 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:28 r2-0008 docker[64299]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 14 03:51:28 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:28 r2-0008 docker[64299]: core | [ros2_control_node-2] [2026-05-14T01:51:28Z ERROR orbita3d_controller::io::poulpe_ethercat] Error: Timeout while connecting to the Orbita3d PoulpeRemoteClient with id 0 May 14 03:51:28 r2-0008 docker[64299]: core | [ros2_control_node-2] [ERROR]: Error loading config file: /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml May 14 03:51:28 r2-0008 docker[64299]: core | [ros2_control_node-2] [WARN]: System hardware component 'neck' from plugin 'orbita3d_system_hwi/Orbita3dSystem' failed to initialize. May 14 03:51:28 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:28 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:28 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:29 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:29 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:29 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:29 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 14 03:51:29 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:29 r2-0008 docker[64299]: core | [INFO] [reachy_grpc_joint_sdk_server-14]: process started with pid [507] May 14 03:51:29 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:30 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:30 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:30 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] [PID 507] Starting grpc server at 50051 May 14 03:51:30 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:30 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] Replaced serial_number reachy2-pvt-default => r2-0008 May 14 03:51:30 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] Replaced mobile_base.serial_number MB-001 => MB-0048 May 14 03:51:30 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] May 14 03:51:30 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] Validating configuration files... May 14 03:51:30 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 14 03:51:30 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:30 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 14 03:51:30 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:31 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:31 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:31 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:31 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 14 03:51:31 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:31 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:32 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:32 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:32 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:32 r2-0008 docker[64299]: core | [INFO] [launch.user]: May 14 03:51:32 r2-0008 docker[64299]: core | -------------------------------------------------- May 14 03:51:32 r2-0008 docker[64299]: core | Node Watcher Report May 14 03:51:32 r2-0008 docker[64299]: core | Logging to /home/reachy/.ros/log/2026-05-14-01-51-21-536904-r2-0008-107 May 14 03:51:32 r2-0008 docker[64299]: core | Un-monitored nodes[26/26] May 14 03:51:32 r2-0008 docker[64299]: core | Failed[0/0]: [] May 14 03:51:32 r2-0008 docker[64299]: core | Success[0/0]: [] May 14 03:51:32 r2-0008 docker[64299]: core | -------------------------------------------------- May 14 03:51:32 r2-0008 docker[64299]: core | May 14 03:51:32 r2-0008 docker[64299]: core | [INFO] [aplay-15]: process details: cmd='aplay /home/reachy/dev/reachy2_sounds/MA_BANT_GAME_PACK_2.wav', cwd='None', custom_env?=True May 14 03:51:32 r2-0008 docker[64299]: core | [INFO] [aplay-15]: process started with pid [569] May 14 03:51:32 r2-0008 docker[64299]: core | [aplay-15] 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 14 03:51:32 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:32 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:32Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 14 03:51:32 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:32Z INFO server] Done! May 14 03:51:32 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:32Z INFO server] New client - update period of 0.002s May 14 03:51:32 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:32Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 14 03:51:32 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:32Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 14 03:51:32 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:32Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 14 03:51:32 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:32Z INFO server] Done! May 14 03:51:32 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:32Z INFO server] New client - update period of 0.002s May 14 03:51:32 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:32 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:32Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 936.97 Hz May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] Done! May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] New client - update period of 0.002s May 14 03:51:33 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] Done! May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] New client - update period of 0.002s May 14 03:51:33 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:33 r2-0008 docker[64299]: core | [INFO] [aplay-15]: process has finished cleanly [pid 569] May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] Done! May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] New client - update period of 0.002s May 14 03:51:33 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 14 03:51:33 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] Done! May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] New client - update period of 0.002s May 14 03:51:33 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] Done! May 14 03:51:33 r2-0008 docker[64299]: core | [ethercat_master_server-1] [2026-05-14T01:51:33Z INFO server] New client - update period of 0.002s May 14 03:51:33 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:33 r2-0008 docker[64299]: core | [ros2_control_node-2] terminate called after throwing an instance of 'std::runtime_error' May 14 03:51:33 r2-0008 docker[64299]: core | [ros2_control_node-2] what(): Wrong state or command interface configuration. May 14 03:51:33 r2-0008 docker[64299]: core | [ros2_control_node-2] missing state interfaces: May 14 03:51:33 r2-0008 docker[64299]: core | [ros2_control_node-2] ' neck_roll/position ' ' neck_roll/velocity ' ' neck_roll/effort ' ' neck_pitch/position ' ' neck_pitch/velocity ' ' neck_pitch/effort ' ' neck_yaw/position ' ' neck_yaw/velocity ' ' neck_yaw/effort ' ' neck/torque ' ' neck/errors ' ' neck/control_mode ' ' neck_raw_motor_1/speed_limit ' ' neck_raw_motor_1/torque_limit ' ' neck_raw_motor_1/p_gain ' ' neck_raw_motor_1/i_gain ' ' neck_raw_motor_1/d_gain ' ' neck_raw_motor_1/motor_temperature ' ' neck_raw_motor_1/board_temperature ' ' neck_raw_motor_1/motor_currents ' ' neck_raw_motor_1/motor_velocities ' ' neck_raw_motor_2/speed_limit ' ' neck_raw_motor_2/torque_limit ' ' neck_raw_motor_2/p_gain ' ' neck_raw_motor_2/i_gain ' ' neck_raw_motor_2/d_gain ' ' neck_raw_motor_2/motor_temperature ' ' neck_raw_motor_2/board_temperature ' ' neck_raw_motor_2/motor_currents ' ' neck_raw_motor_2/motor_velocities ' ' neck_raw_motor_3/speed_limit ' ' neck_raw_motor_3/torque_limit ' ' neck_raw_motor_3/p_gain ' ' neck_raw_motor_3/i_gain ' ' neck_raw_motor_3/d_gain ' ' neck_raw_motor_3/motor_temperature ' ' neck_raw_motor_3/board_temperature ' ' neck_raw_motor_3/motor_currents ' ' neck_raw_motor_3/motor_velocities ' May 14 03:51:33 r2-0008 docker[64299]: core | [ros2_control_node-2] missing command interfaces: May 14 03:51:33 r2-0008 docker[64299]: core | [ros2_control_node-2] ' neck_roll/position ' ' neck_roll/velocity ' ' neck_roll/effort ' ' neck_pitch/position ' ' neck_pitch/velocity ' ' neck_pitch/effort ' ' neck_yaw/position ' ' neck_yaw/velocity ' ' neck_yaw/effort ' ' neck/torque ' ' neck/control_mode ' ' neck_raw_motor_1/speed_limit ' ' neck_raw_motor_1/torque_limit ' ' neck_raw_motor_1/p_gain ' ' neck_raw_motor_1/i_gain ' ' neck_raw_motor_1/d_gain ' ' neck_raw_motor_2/speed_limit ' ' neck_raw_motor_2/torque_limit ' ' neck_raw_motor_2/p_gain ' ' neck_raw_motor_2/i_gain ' ' neck_raw_motor_2/d_gain ' ' neck_raw_motor_3/speed_limit ' ' neck_raw_motor_3/torque_limit ' ' neck_raw_motor_3/p_gain ' ' neck_raw_motor_3/i_gain ' ' neck_raw_motor_3/d_gain ' May 14 03:51:33 r2-0008 docker[64299]: core | [ERROR] [ros2_control_node-2]: process has died [pid 130, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_pv0z9es5 --params-file /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml']. May 14 03:51:33 r2-0008 docker[64299]: core | [INFO] [launch.user]: Critical node failed : [ros2_control_node] May 14 03:51:33 r2-0008 docker[64299]: core | [INFO] [rosbag_snapshot_dump-16]: process started with pid [845] May 14 03:51:34 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:34 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:34 r2-0008 docker[64299]: core | [rosbag_snapshot_dump-16] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() May 14 03:51:34 r2-0008 docker[64299]: core | [rosbag_snapshot_dump-16] May 14 03:51:34 r2-0008 docker[64299]: core | [rosbag_snapshot_dump-16] response: May 14 03:51:34 r2-0008 docker[64299]: core | [rosbag_snapshot_dump-16] rosbag2_interfaces.srv.Snapshot_Response(success=True) May 14 03:51:34 r2-0008 docker[64299]: core | [rosbag_snapshot_dump-16] May 14 03:51:34 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:34 r2-0008 docker[64299]: core | [INFO] [rosbag_snapshot_dump-16]: process has finished cleanly [pid 845] May 14 03:51:34 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:34 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:35 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:35 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:35 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:35 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' services to be available May 14 03:51:35 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:35 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ros2_control_node] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [reachy_grpc_joint_sdk_server-14]: sending signal 'SIGINT' to process[reachy_grpc_joint_sdk_server-14] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [joint_state_broadcaster-7]: sending signal 'SIGINT' to process[joint_state_broadcaster-7] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] May 14 03:51:37 r2-0008 docker[64299]: core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 194, exit code -2, cmd '/bin/bash -c reachy2_sdk_audio_server_rs']. May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [ethercat_master_server-1]: sending signal 'SIGINT' to process[ethercat_master_server-1] May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] Traceback (most recent call last): May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_joint_sdk_server", line 33, in May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_joint_sdk_server')()) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/joint_server.py", line 196, in main_singleprocess May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] servicer = ReachyGRPCJointSDKServicer( May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/joint_server.py", line 42, in __init__ May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] self.bridge_node = AbstractBridgeNode( May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/abstract_bridge_node.py", line 102, in __init__ May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] self.wait_for_setup() May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/abstract_bridge_node.py", line 162, in wait_for_setup May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] rclpy.spin_once(self) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] executor.spin_once(timeout_sec=timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] self._spin_once_impl(timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] return next(self._cb_iter) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] wait_set.wait(timeout_nsec) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] KeyboardInterrupt May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] Traceback (most recent call last): May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router", line 33, in May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 397, in main May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] node = DynamicStateRouterNode( May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 91, in __init__ May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] self.wait_for_setup() May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 384, in wait_for_setup May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] rclpy.spin_once(self) May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] executor.spin_once(timeout_sec=timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] return next(self._cb_iter) May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] wait_set.wait(timeout_nsec) May 14 03:51:37 r2-0008 docker[64299]: core | [dynamic_state_router-12] KeyboardInterrupt May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] Traceback (most recent call last): May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] File "/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server", line 33, in May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] sys.exit(load_entry_point('pollen-goto', 'console_scripts', 'goto_server')()) May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 590, in main May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] joint_state_handler = CentralJointStateHandler(callback_group) May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 44, in __init__ May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] rclpy.spin_once(self, timeout_sec=0.1) May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] executor.spin_once(timeout_sec=timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] self._spin_once_impl(timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] return next(self._cb_iter) May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] wait_set.wait(timeout_nsec) May 14 03:51:37 r2-0008 docker[64299]: core | [goto_server-11] KeyboardInterrupt May 14 03:51:37 r2-0008 docker[64299]: core | [component_container-10] [INFO]: signal_handler(signum=2) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros): May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server", line 33, in May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 368, in main May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] self.run() May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 953, in run May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 187, in spin_ros May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] return _common.wait( May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] executor.spin_once() May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt May 14 03:51:37 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] Traceback (most recent call last): May 14 03:51:37 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in May 14 03:51:37 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] sys.exit(load_entry_point('controller-manager==2.42.0', 'console_scripts', 'spawner')()) May 14 03:51:37 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main May 14 03:51:37 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] if not wait_for_controller_manager( May 14 03:51:37 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 117, in wait_for_controller_manager May 14 03:51:37 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] return wait_for_value_or( May 14 03:51:37 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or May 14 03:51:37 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] time.sleep(0.2) May 14 03:51:37 r2-0008 docker[64299]: core | [joint_state_broadcaster-7] KeyboardInterrupt May 14 03:51:37 r2-0008 docker[64299]: core | [component_container-10] [WARN]: Do destroy ~OBCameraNode May 14 03:51:37 r2-0008 docker[64299]: core | [component_container-10] [WARN]: Stop tf thread May 14 03:51:37 r2-0008 docker[64299]: core | [component_container-10] [WARN]: Stop color frame thread May 14 03:51:37 r2-0008 docker[64299]: core | [component_container-10] [INFO]: Color frame thread exit! May 14 03:51:37 r2-0008 docker[64299]: core | [component_container-10] [WARN]: stop streams May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] Traceback (most recent call last): May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] rclpy.spin(publisher) May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] executor.spin_once() May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] return next(self._cb_iter) May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) May 14 03:51:37 r2-0008 docker[64299]: core | [fake_gz_interface-5] KeyboardInterrupt May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] **************************************** May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] grpc-server_SDK.50051::python_gc stop: 41.541ms May 14 03:51:37 r2-0008 docker[64299]: core | [reachy_grpc_joint_sdk_server-14] **************************************** May 14 03:51:37 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while May 14 03:51:37 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Event publisher thread: Exiting May 14 03:51:37 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Recording stopped May 14 03:51:37 r2-0008 docker[64299]: core | [rosbag-13] [INFO]: Recording stopped May 14 03:51:37 r2-0008 docker[64299]: core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 196, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args']. May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] May 14 03:51:37 r2-0008 docker[64299]: core | [ERROR] [robot_state_publisher-6]: process has died [pid 190, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_ziviles8']. May 14 03:51:37 r2-0008 docker[64299]: core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] May 14 03:51:37 r2-0008 docker[64299]: core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] Traceback (most recent call last): May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] raise RuntimeError(msg) May 14 03:51:37 r2-0008 docker[64299]: core | [hal-4] RuntimeError: Default zuuu_hal shutdown May 14 03:51:37 r2-0008 docker[64299]: core | [rplidar_scan_publisher-3] [INFO]: Stop motor May 14 03:51:38 r2-0008 docker[64299]: core | [ERROR] [joint_state_broadcaster-7]: process has died [pid 192, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args -r __node:=joint_state_broadcaster']. May 14 03:51:38 r2-0008 docker[64299]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested May 14 03:51:38 r2-0008 docker[64299]: core | [ERROR] [goto_server-11]: process has died [pid 200, exit code -2, cmd '/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args']. May 14 03:51:38 r2-0008 docker[64299]: core | [INFO] [launch.user]: Critical node failed : [goto_server] May 14 03:51:38 r2-0008 docker[64299]: core | [INFO] [rosbag-13]: process has finished cleanly [pid 204] May 14 03:51:38 r2-0008 docker[64299]: core | [ERROR] [fake_gz_interface-5]: process has died [pid 188, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_tehjke22']. May 14 03:51:38 r2-0008 docker[64299]: core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] May 14 03:51:38 r2-0008 docker[64299]: core | [ERROR] [dynamic_state_router-12]: process has died [pid 202, exit code -2, cmd '/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args']. May 14 03:51:38 r2-0008 docker[64299]: core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] May 14 03:51:38 r2-0008 docker[64299]: core | [ERROR] [reachy_grpc_joint_sdk_server-14]: process has died [pid 507, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_joint_sdk_server /home/reachy/.reachy_config/reachy.yaml 2 --ros-args']. May 14 03:51:38 r2-0008 docker[64299]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_joint_sdk_server] May 14 03:51:38 r2-0008 docker[64299]: core | [INFO] [component_container-10]: process has finished cleanly [pid 198] May 14 03:51:38 r2-0008 docker[64299]: core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 184] May 14 03:51:39 r2-0008 docker[64299]: core | [ERROR] [ethercat_master_server-1]: process[ethercat_master_server-1] failed to terminate '2' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 14 03:51:39 r2-0008 docker[64299]: core | [INFO] [ethercat_master_server-1]: sending signal 'SIGTERM' to process[ethercat_master_server-1] May 14 03:51:39 r2-0008 docker[64299]: core | [ERROR] [ethercat_master_server-1]: process has died [pid 108, exit code -15, cmd '/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml']. May 14 03:51:39 r2-0008 docker[64299]: core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] May 14 03:51:39 r2-0008 docker[64299]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 14 03:51:39 r2-0008 docker[64299]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running May 14 03:51:42 r2-0008 docker[64299]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' May 14 03:51:42 r2-0008 docker[64299]: core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] May 14 03:51:42 r2-0008 docker[64299]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): '_io.StringIO' object has no attribute 'info' May 14 03:51:47 r2-0008 docker[64299]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' May 14 03:51:47 r2-0008 docker[64299]: core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] May 14 03:51:47 r2-0008 docker[64299]: core | [ERROR] [hal-4]: process has died [pid 186, exit code -9, cmd '/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_rvrdg6ja']. May 14 03:51:47 r2-0008 docker[64299]: core | Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_Bubbles_Pops_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo May 14 03:51:47 r2-0008 docker[64299]: core exited with code 0 May 14 03:51:47 r2-0008 docker[66119]: Container core Stopping May 14 03:51:47 r2-0008 docker[66119]: Container core Stopping May 14 03:51:47 r2-0008 docker[66119]: Container core Stopped May 14 03:51:47 r2-0008 docker[66119]: Container core Removing May 14 03:51:48 r2-0008 docker[66119]: Container core Removed May 14 03:51:48 r2-0008 systemd[1]: reachy2-core.service: Deactivated successfully. May 14 03:51:55 r2-0008 systemd[1]: reachy2-core.service: Scheduled restart job, restart counter is at 1. May 14 03:51:55 r2-0008 systemd[1]: Stopped Reachy2 Core. May 14 03:51:55 r2-0008 systemd[1]: Starting Reachy2 Core... May 14 03:51:55 r2-0008 bash[66659]: What a clear sky to launch a [core] container May 14 03:51:55 r2-0008 systemd[1]: Started Reachy2 Core. May 14 03:51:55 r2-0008 systemd[1]: Stopping Reachy2 Core... May 14 03:51:55 r2-0008 docker[66716]: Container core Creating May 14 03:51:55 r2-0008 docker[66735]: Warning: No resource found to remove for project "reachy2-core". May 14 03:51:55 r2-0008 docker[66716]: canceled May 14 03:51:55 r2-0008 systemd[1]: reachy2-core.service: Main process exited, code=exited, status=130/n/a May 14 03:51:55 r2-0008 systemd[1]: reachy2-core.service: Failed with result 'exit-code'. May 14 03:51:55 r2-0008 systemd[1]: Stopped Reachy2 Core. May 14 03:51:55 r2-0008 systemd[1]: Starting Reachy2 Core... May 14 03:51:55 r2-0008 bash[66763]: What a clear sky to launch a [core] container May 14 03:51:55 r2-0008 systemd[1]: Started Reachy2 Core. May 14 03:51:55 r2-0008 docker[66814]: Container core Recreate May 14 03:51:55 r2-0008 docker[66814]: Container core Recreated May 14 03:51:55 r2-0008 docker[66814]: Attaching to core May 14 03:51:56 r2-0008 docker[66814]: core | Input : Rode, Output: Rode May 14 03:51:56 r2-0008 docker[66814]: core | ALSA configuration generated with the following settings: May 14 03:51:56 r2-0008 docker[66814]: core | Sink Card: 1,0 May 14 03:51:56 r2-0008 docker[66814]: core | Source Card: 1,0 May 14 03:51:56 r2-0008 docker[66814]: core | Period Size: 512 May 14 03:51:56 r2-0008 docker[66814]: core | Buffer Size: 2048 May 14 03:51:56 r2-0008 docker[66814]: core | Sound config written to ~/.asoundrc May 14 03:51:56 r2-0008 docker[66814]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-05-14-01-51-56-322168-r2-0008-107 May 14 03:51:56 r2-0008 docker[66814]: core | [INFO] [launch]: Default logging verbosity is set to INFO May 14 03:51:56 r2-0008 docker[66814]: core | [INFO] [launch.user]: May 14 03:51:56 r2-0008 docker[66814]: core | -------------------------------------------------- May 14 03:51:56 r2-0008 docker[66814]: core | Configuration May 14 03:51:56 r2-0008 docker[66814]: core | -------------------------------------------------- May 14 03:51:56 r2-0008 docker[66814]: core | May 14 03:51:56 r2-0008 docker[66814]: core | [reachy.yaml] configuration override May 14 03:51:56 r2-0008 docker[66814]: core | Replaced serial_number reachy2-pvt-default => r2-0008 May 14 03:51:56 r2-0008 docker[66814]: core | Replaced mobile_base.serial_number MB-001 => MB-0048 May 14 03:51:56 r2-0008 docker[66814]: core | May 14 03:51:56 r2-0008 docker[66814]: core | Validating configuration files... May 14 03:51:56 r2-0008 docker[66814]: core | Reachy config loaded successfully May 14 03:51:56 r2-0008 docker[66814]: core | No reachy2 model specified r2-0008, defaulting to PVT. May 14 03:51:56 r2-0008 docker[66814]: core | [INFO] [launch.user]: Reachy config : May 14 03:51:56 r2-0008 docker[66814]: core | robot_model full_kit May 14 03:51:56 r2-0008 docker[66814]: core | May 14 03:51:56 r2-0008 docker[66814]: core | [INFO] [launch.user]: Reachy URDF config : May 14 03:51:56 r2-0008 docker[66814]: core | depth_camera true May 14 03:51:56 r2-0008 docker[66814]: core | robot_config full_kit May 14 03:51:56 r2-0008 docker[66814]: core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml" May 14 03:51:56 r2-0008 docker[66814]: core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" May 14 03:51:56 r2-0008 docker[66814]: core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" May 14 03:51:56 r2-0008 docker[66814]: core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" May 14 03:51:56 r2-0008 docker[66814]: core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" May 14 03:51:56 r2-0008 docker[66814]: core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" May 14 03:51:56 r2-0008 docker[66814]: core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" May 14 03:51:56 r2-0008 docker[66814]: core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" May 14 03:51:56 r2-0008 docker[66814]: core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" May 14 03:51:56 r2-0008 docker[66814]: core | robot_model "dvt" May 14 03:51:56 r2-0008 docker[66814]: core | May 14 03:51:56 r2-0008 docker[66814]: core | [INFO] [launch.user]: May 14 03:51:56 r2-0008 docker[66814]: core | -------------------------------------------------- May 14 03:51:56 r2-0008 docker[66814]: core | Launching nodes... May 14 03:51:56 r2-0008 docker[66814]: core | -------------------------------------------------- May 14 03:51:56 r2-0008 docker[66814]: core | May 14 03:51:57 r2-0008 docker[66814]: core | [INFO] [ethercat_master_server-1]: process started with pid [108] May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Found 7 slaves May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 4 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 5 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 6 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! May 14 03:51:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:51:57Z INFO server] POULPE controller ready! May 14 03:52:00 r2-0008 docker[66814]: core | [INFO] [ros2_control_node-2]: process started with pid [130] May 14 03:52:00 r2-0008 docker[66814]: 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 14 03:52:00 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:00Z INFO server] Setup Slave NeckOrbita3d (id: 0)... May 14 03:52:00 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:00Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled May 14 03:52:00 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:00Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn May 14 03:52:00 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:00Z INFO server] Done! May 14 03:52:00 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:00Z INFO server] New client - update period of 0.002s May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] Done! May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] New client - update period of 0.002s May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] Done! May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] New client - update period of 0.002s May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [291] May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [281] May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [hal-4]: process started with pid [283] May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [fake_gz_interface-5]: process started with pid [285] May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [robot_state_publisher-6]: process started with pid [287] May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [289] May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [293] May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [component_container-10]: process started with pid [295] May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [goto_server-11]: process started with pid [297] May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [dynamic_state_router-12]: process started with pid [299] May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [rosbag-13]: process started with pid [301] May 14 03:52:01 r2-0008 docker[66814]: 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 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] Done! May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] New client - update period of 0.002s May 14 03:52:01 r2-0008 docker[66814]: 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 14 03:52:01 r2-0008 docker[66814]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: ADD0E38AC0EAD3CEC6EA9DF35B020676 May 14 03:52:01 r2-0008 docker[66814]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 May 14 03:52:01 r2-0008 docker[66814]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 4)... May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled May 14 03:52:01 r2-0008 docker[66814]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 May 14 03:52:01 r2-0008 docker[66814]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] Done! May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] New client - update period of 0.002s May 14 03:52:01 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so May 14 03:52:01 r2-0008 docker[66814]: 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 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] Setup Slave LeftElbowOrbita2d (id: 5)... May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled May 14 03:52:01 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate May 14 03:52:01 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] Done! May 14 03:52:01 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:01Z INFO server] New client - update period of 0.002s May 14 03:52:01 r2-0008 docker[66814]: core | [component_container-10] [05/14 01:52:01.934026][info][295][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml May 14 03:52:01 r2-0008 docker[66814]: core | [component_container-10] [05/14 01:52:01.934052][info][295][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 May 14 03:52:01 r2-0008 docker[66814]: core | [component_container-10] [05/14 01:52:01.934075][info][295][LinuxPal.cpp:32] createObPal: create LinuxPal! May 14 03:52:01 r2-0008 docker[66814]: core | [component_container-10] [05/14 01:52:01.956526][info][295][LinuxPal.cpp:166] Create PollingDeviceWatcher! May 14 03:52:01 r2-0008 docker[66814]: core | [component_container-10] [05/14 01:52:01.957921][info][295][DeviceManager.cpp:15] Current found device(s): (1) May 14 03:52:01 r2-0008 docker[66814]: core | [component_container-10] [05/14 01:52:01.958535][info][295][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP9T25300070, Connection: USB3.2 May 14 03:52:01 r2-0008 docker[66814]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' May 14 03:52:01 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Connecting to the default device May 14 03:52:02 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:02Z INFO server] Setup Slave LeftWristOrbita3d (id: 6)... May 14 03:52:02 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:02Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled May 14 03:52:02 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:02Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn May 14 03:52:02 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:02Z INFO server] Done! May 14 03:52:02 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:02Z INFO server] New client - update period of 0.002s May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-05-14-01-51-56-322168-r2-0008-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Listening for topics... May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Event publisher thread: Starting May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Select device cost 166 ms May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Try to connect device via USB3.2 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf' May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Recording... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: current time domain: device May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting heartbeat to OFF May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Create align filter May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Depth process is HW D2D May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting LDP to ON May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting laser control to 1 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting laser on off mode to 0 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Available presets: May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Preset 0: Custom May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Preset 1: Default May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Preset 3: High Accuracy May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Preset 4: Factory Calib May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Load device preset: Default May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Device preset Default loaded May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting color auto white balance to ON May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting color auto exposure to ON May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting DecimationFilter...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: set DecimationFilter to false May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting HDRMerge...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: set HDRMerge to false May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting SequenceIdFilter...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting SpatialFastFilter...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting TemporalFilter...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: set TemporalFilter to false May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting HoleFillingFilter...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: set HoleFillingFilter to false May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting DisparityTransform...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting ThresholdFilter...... May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: set ThresholdFilter to false May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Enable color stream May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Enable depth stream May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Enable frame sync May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Setting LDP to ON May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Serial number: CP9T25300070 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Firmware version: 1.4.60 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Hardware version: 0.1 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: device unique id: 8-1-2 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Current node pid: 295 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: usb connect type: USB3.2 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Start device cost 316 ms May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Initialize device cost 139 ms May 14 03:52:02 r2-0008 docker[66814]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit May 14 03:52:02 r2-0008 docker[66814]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' May 14 03:52:02 r2-0008 docker[66814]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:52:02 r2-0008 docker[66814]: core | [hal-4] [INFO]: Starting zuuu_hal! May 14 03:52:02 r2-0008 docker[66814]: core | [hal-4] [INFO]: Zuuu Goto action server init. May 14 03:52:02 r2-0008 docker[66814]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware May 14 03:52:02 r2-0008 docker[66814]: core | [hal-4] May 14 03:52:02 r2-0008 docker[66814]: core | [joint_state_broadcaster-7] [INFO]: Loaded joint_state_broadcaster May 14 03:52:02 r2-0008 docker[66814]: 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 14 03:52:02 r2-0008 docker[66814]: 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 14 03:52:02 r2-0008 docker[66814]: 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 14 03:52:02 r2-0008 docker[66814]: 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 14 03:52:02 r2-0008 docker[66814]: core | [joint_state_broadcaster-7] [INFO]: Configured and activated joint_state_broadcaster May 14 03:52:02 r2-0008 docker[66814]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set May 14 03:52:02 r2-0008 docker[66814]: 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 14 03:52:02 r2-0008 docker[66814]: 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 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_state_broadcaster/transition_event' May 14 03:52:02 r2-0008 docker[66814]: core | [hal-4] [INFO]: zuuu version: 1.2 May 14 03:52:02 r2-0008 docker[66814]: core | [hal-4] [INFO]: Reading Zuuu's sensors once... May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_commands' May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/ik_target_pose' May 14 03:52:02 r2-0008 docker[66814]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Publishing static transform from color to depth May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Translation 14.118, 0.040812, 1.60059 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Rotation 0.000462881, 0.000723912, 0.00109022, 0.999999 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Publishing static transform from depth to depth May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Translation 0, 0, 0 May 14 03:52:02 r2-0008 docker[66814]: core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 May 14 03:52:02 r2-0008 docker[66814]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. May 14 03:52:02 r2-0008 docker[66814]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 14 03:52:02 r2-0008 docker[66814]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 14 03:52:02 r2-0008 docker[66814]: core | [hal-4] [WARN]: Battery voltage OK (25.7V) May 14 03:52:02 r2-0008 docker[66814]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 14 03:52:02 r2-0008 docker[66814]: core | [hal-4] [INFO]: => Zuuu HAL up and running! ** May 14 03:52:02 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' May 14 03:52:02 r2-0008 docker[66814]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node May 14 03:52:02 r2-0008 docker[66814]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. May 14 03:52:02 r2-0008 docker[66814]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. May 14 03:52:02 r2-0008 docker[66814]: core | [INFO] [joint_state_broadcaster-7]: process has finished cleanly [pid 289] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [pollen_kdl_kinematics-28]: process started with pid [843] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [forward_torque_controller-14]: process started with pid [815] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [forward_torque_limit_controller-15]: process started with pid [817] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [forward_speed_limit_controller-16]: process started with pid [819] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [forward_pid_controller-17]: process started with pid [821] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [gripper_current_controller-18]: process started with pid [823] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [gripper_mode_controller-19]: process started with pid [825] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [antenna_current_controller-20]: process started with pid [827] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [antenna_mode_controller-21]: process started with pid [829] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [neck_forward_position_controller-22]: process started with pid [831] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [antenna_forward_position_controller-23]: process started with pid [833] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [tripod_forward_position_controller-24]: process started with pid [835] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [r_arm_forward_position_controller-25]: process started with pid [837] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [l_arm_forward_position_controller-26]: process started with pid [839] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [gripper_forward_position_controller-27]: process started with pid [841] May 14 03:52:03 r2-0008 docker[66814]: core | [INFO] [rviz2-29]: process started with pid [845] May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: Setup done! May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/commands' May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/commands' May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [ERROR]: list of self.forward_controllers.all() : dict_values([, , , , , , , , , , , , , ]) May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/joint_commands' May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_current_controller/commands' May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode setup: May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/commands' May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: - neck_forward_position_controller: ['neck_roll', 'neck_pitch', 'neck_yaw'] (position) May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/commands' May 14 03:52:03 r2-0008 docker[66814]: 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 14 03:52:03 r2-0008 docker[66814]: 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 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: - gripper_forward_position_controller: ['r_hand_finger', 'l_hand_finger'] (position) May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: - gripper_current_controller: ['r_hand_raw_motor_1', 'l_hand_raw_motor_1'] (_current) May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: - gripper_mode_controller: ['l_hand_raw_motor_1', 'r_hand_raw_motor_1'] (_mode) May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: - antenna_forward_position_controller: ['antenna_left', 'antenna_right'] (position) May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: - antenna_current_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_current) May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: - antenna_mode_controller: ['antenna_left_raw_motor', 'antenna_right_raw_motor'] (_mode) May 14 03:52:03 r2-0008 docker[66814]: core | [rviz2-29] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' May 14 03:52:03 r2-0008 docker[66814]: 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 14 03:52:03 r2-0008 docker[66814]: 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 14 03:52:03 r2-0008 docker[66814]: 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 14 03:52:03 r2-0008 docker[66814]: 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 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: - tripod_forward_position_controller: ['tripod_joint'] (position) May 14 03:52:03 r2-0008 docker[66814]: core | [dynamic_state_router-12] [INFO]: DynamicStateRouterNode ready! May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/grippers/commands' May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/commands' May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/commands' May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/commands' May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_pid_controller/commands' May 14 03:52:03 r2-0008 docker[66814]: core | [antenna_mode_controller-21] [INFO]: Loaded antenna_mode_controller May 14 03:52:03 r2-0008 docker[66814]: core | [forward_pid_controller-17] [INFO]: Loaded forward_pid_controller May 14 03:52:03 r2-0008 docker[66814]: core | [antenna_mode_controller-21] [INFO]: Configured and activated antenna_mode_controller May 14 03:52:03 r2-0008 docker[66814]: core | [forward_pid_controller-17] [INFO]: Configured and activated forward_pid_controller May 14 03:52:03 r2-0008 docker[66814]: core | [l_arm_forward_position_controller-26] [INFO]: Loaded l_arm_forward_position_controller May 14 03:52:03 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_forward_position_controller/transition_event' May 14 03:52:03 r2-0008 docker[66814]: core | [l_arm_forward_position_controller-26] [INFO]: Configured and activated l_arm_forward_position_controller May 14 03:52:03 r2-0008 docker[66814]: core | [antenna_current_controller-20] [INFO]: Loaded antenna_current_controller May 14 03:52:03 r2-0008 docker[66814]: core | [gripper_mode_controller-19] [INFO]: Loaded gripper_mode_controller May 14 03:52:03 r2-0008 docker[66814]: core | [antenna_current_controller-20] [INFO]: Configured and activated antenna_current_controller May 14 03:52:04 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/gripper_forward_position_controller/transition_event' May 14 03:52:04 r2-0008 docker[66814]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 14 03:52:04 r2-0008 docker[66814]: core | [rviz2-29] [INFO]: OpenGl version: 4.5 (GLSL 4.5) May 14 03:52:04 r2-0008 docker[66814]: core | [gripper_mode_controller-19] [INFO]: Configured and activated gripper_mode_controller May 14 03:52:04 r2-0008 docker[66814]: core | [gripper_forward_position_controller-27] [INFO]: Loaded gripper_forward_position_controller May 14 03:52:04 r2-0008 docker[66814]: core | [gripper_forward_position_controller-27] [INFO]: Configured and activated gripper_forward_position_controller May 14 03:52:04 r2-0008 docker[66814]: core | [forward_torque_limit_controller-15] [INFO]: Loaded forward_torque_limit_controller May 14 03:52:04 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_limit_controller/transition_event' May 14 03:52:04 r2-0008 docker[66814]: core | [antenna_forward_position_controller-23] [INFO]: Loaded antenna_forward_position_controller May 14 03:52:04 r2-0008 docker[66814]: core | [rviz2-29] [INFO]: Stereo is NOT SUPPORTED May 14 03:52:04 r2-0008 docker[66814]: core | [forward_torque_limit_controller-15] [INFO]: Configured and activated forward_torque_limit_controller May 14 03:52:04 r2-0008 docker[66814]: core | [antenna_forward_position_controller-23] [INFO]: Configured and activated antenna_forward_position_controller May 14 03:52:04 r2-0008 docker[66814]: core | [gripper_current_controller-18] [INFO]: Loaded gripper_current_controller May 14 03:52:04 r2-0008 docker[66814]: core | [gripper_current_controller-18] [INFO]: Configured and activated gripper_current_controller May 14 03:52:04 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/neck_forward_position_controller/transition_event' May 14 03:52:04 r2-0008 docker[66814]: core | [neck_forward_position_controller-22] [INFO]: Loaded neck_forward_position_controller May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [antenna_mode_controller-21]: process has finished cleanly [pid 829] May 14 03:52:04 r2-0008 docker[66814]: core | [forward_torque_controller-14] [INFO]: Loaded forward_torque_controller May 14 03:52:04 r2-0008 docker[66814]: core | [forward_torque_controller-14] [INFO]: Configured and activated forward_torque_controller May 14 03:52:04 r2-0008 docker[66814]: core | [neck_forward_position_controller-22] [INFO]: Configured and activated neck_forward_position_controller May 14 03:52:04 r2-0008 docker[66814]: core | [forward_speed_limit_controller-16] [INFO]: Loaded forward_speed_limit_controller May 14 03:52:04 r2-0008 docker[66814]: core | [r_arm_forward_position_controller-25] [INFO]: Loaded r_arm_forward_position_controller May 14 03:52:04 r2-0008 docker[66814]: core | [tripod_forward_position_controller-24] [INFO]: Loaded tripod_forward_position_controller May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [l_arm_forward_position_controller-26]: process has finished cleanly [pid 839] May 14 03:52:04 r2-0008 docker[66814]: core | [forward_speed_limit_controller-16] [INFO]: Configured and activated forward_speed_limit_controller May 14 03:52:04 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/initialpose' May 14 03:52:04 r2-0008 docker[66814]: core | [r_arm_forward_position_controller-25] [INFO]: Configured and activated r_arm_forward_position_controller May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [gripper_mode_controller-19]: process has finished cleanly [pid 825] May 14 03:52:04 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/clicked_point' May 14 03:52:04 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_forward_position_controller/transition_event' May 14 03:52:04 r2-0008 docker[66814]: core | [tripod_forward_position_controller-24] [INFO]: Configured and activated tripod_forward_position_controller May 14 03:52:04 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_speed_limit_controller/transition_event' May 14 03:52:04 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/forward_torque_controller/transition_event' May 14 03:52:04 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/goal_pose' May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [forward_pid_controller-17]: process has finished cleanly [pid 821] May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [forward_torque_limit_controller-15]: process has finished cleanly [pid 817] May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [antenna_current_controller-20]: process has finished cleanly [pid 827] May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [reachy_grpc_joint_sdk_server-30]: process started with pid [1263] May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [gripper_forward_position_controller-27]: process has finished cleanly [pid 841] May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [antenna_forward_position_controller-23]: process has finished cleanly [pid 833] May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [gripper_current_controller-18]: process has finished cleanly [pid 823] May 14 03:52:04 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/kinematics/transition_event' May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [forward_torque_controller-14]: process has finished cleanly [pid 815] May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [neck_forward_position_controller-22]: process has finished cleanly [pid 831] May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [forward_speed_limit_controller-16]: process has finished cleanly [pid 819] May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [r_arm_forward_position_controller-25]: process has finished cleanly [pid 837] May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Retrieving URDF from "/robot_description"... May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Done! May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Waiting for /joint_states... May 14 03:52:04 r2-0008 docker[66814]: core | [INFO] [tripod_forward_position_controller-24]: process has finished cleanly [pid 835] May 14 03:52:04 r2-0008 docker[66814]: 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 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "l_arm"! May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_pitch May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: l_shoulder_roll May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_yaw May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: l_elbow_pitch May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_roll May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_pitch May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: l_wrist_yaw May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/forward_kinematics"... May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/l_arm/inverse_kinematics"... May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/ik_target_pose"... May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/l_arm/target_pose"... May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] **************************************** May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] pollen_kdl_kinematics_node::python_gc stop: 42.465ms May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] **************************************** May 14 03:52:04 r2-0008 docker[66814]: 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 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for "r_arm"! May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_pitch May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: r_shoulder_roll May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_yaw May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: r_elbow_pitch May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_roll May 14 03:52:04 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_pitch May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: r_wrist_yaw May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/forward_kinematics"... May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/r_arm/inverse_kinematics"... May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 14 03:52:05 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm_reachability_states' May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/ik_target_pose"... May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/r_arm/target_pose"... May 14 03:52:05 r2-0008 docker[66814]: 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 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Found kinematics chain for head! May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: neck_roll May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: neck_pitch May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: neck_yaw May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/forward_kinematics"... May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding service "/head/inverse_kinematics"... May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/cart_target_pose"... May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Adding subscription on "/head/averaged_target_pose"... May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] Replaced serial_number reachy2-pvt-default => r2-0008 May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] Replaced mobile_base.serial_number MB-001 => MB-0048 May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] Validating configuration files... May 14 03:52:05 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm_reachability_states' May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: DVT mode activated May 14 03:52:05 r2-0008 docker[66814]: core | [goto_server-11] [INFO]: Goto action server r_arm init. May 14 03:52:05 r2-0008 docker[66814]: core | [goto_server-11] [INFO]: Goto action server l_arm init. May 14 03:52:05 r2-0008 docker[66814]: core | [goto_server-11] [INFO]: Goto action server head init. May 14 03:52:05 r2-0008 docker[66814]: core | [goto_server-11] [INFO]: Goto action server r_hand init. May 14 03:52:05 r2-0008 docker[66814]: core | [goto_server-11] [INFO]: Goto action server l_hand init. May 14 03:52:05 r2-0008 docker[66814]: core | [goto_server-11] [INFO]: Goto action server antenna_right init. May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Kinematics node ready! May 14 03:52:05 r2-0008 docker[66814]: core | [pollen_kdl_kinematics-28] [INFO]: Configuring state has been called, going into inactive to release event trigger May 14 03:52:05 r2-0008 docker[66814]: core | [goto_server-11] [INFO]: Goto action server antenna_left init. May 14 03:52:05 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/ik_target_pose' May 14 03:52:05 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/markers_grasp_triplet' May 14 03:52:05 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [PID 1263] Starting grpc server at 50051 May 14 03:52:05 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] Replaced serial_number reachy2-pvt-default => r2-0008 May 14 03:52:05 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] Replaced mobile_base.serial_number MB-001 => MB-0048 May 14 03:52:05 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] May 14 03:52:05 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] Validating configuration files... May 14 03:52:05 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:05Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.12497 req/s May 14 03:52:05 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:05Z INFO server] GRPC EtherCAT Slave 0 | commands sent 319.96 cmd/s, commands dropped 0.60 req/s, command time: 3.13 (max 1459.17) ms May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Start port:50051, metrics_port:60051 (port+10000). May 14 03:52:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:06Z INFO server] GRPC EtherCAT Slave 1 | commands sent 324.78 cmd/s, commands dropped 0.80 req/s, command time: 3.08 (max 1270.09) ms May 14 03:52:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:06Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.1616 req/s May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Joint state setup (nb_joints=55). May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_2, id=2, type=unknown, extra={} state={'board_temperature': 28.428668975830078, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 27.998199462890625, 'speed_limit': 1.0, 'motor_currents': 3955.361083984375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.005943616386502981}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_yaw, id=3, type=unknown, extra={} state={'position': 0.17450067400932312, 'velocity': -0.0, 'effort': 40.111881256103516, 'axis_sensor': 0.1714763641357422, 'target_position': 0.17450067400932312}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: 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': 30.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_1, id=6, type=unknown, extra={} state={'board_temperature': 25.24900245666504, 'motor_velocities': 2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 26.852630615234375, 'speed_limit': 1.0, 'motor_currents': -14.789027214050293, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_yaw, id=7, type=unknown, extra={} state={'position': -0.17406314611434937, 'velocity': 4.203895392974451e-45, 'effort': -15.7347412109375, 'axis_sensor': -0.16803503036499023, 'target_position': -0.17406314611434937}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_pitch, id=9, type=unknown, extra={} state={'position': -0.00017429652507416904, 'velocity': -0.0, 'effort': 122.27391052246094, 'axis_sensor': -0.00322723388671875, 'target_position': -0.00017429652507416904}) May 14 03:52:06 r2-0008 docker[66814]: 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': 30.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.3981199860572815}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_1, id=12, type=unknown, extra={} state={'board_temperature': 25.107038497924805, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 26.426605224609375, 'speed_limit': 1.0, 'motor_currents': -28.25831413269043, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_roll, id=13, type=unknown, extra={} state={'position': 0.18378974497318268, 'velocity': 1.401298464324817e-44, 'effort': -10.088732719421387, 'axis_sensor': -0.17585694789886475, 'target_position': 0.18378974497318268}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: 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': 39.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_2, id=16, type=unknown, extra={} state={'board_temperature': 28.1650447845459, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 30.917938232421875, 'speed_limit': 1.0, 'motor_currents': -12.535307884216309, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: 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': 32.0, 'i_gain': nan, 'd_gain': nan, 'mode': 5.0, 'p_gain': nan, 'current': 0.30000001192092896}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_2, id=19, type=unknown, extra={} state={'board_temperature': 28.687179565429688, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 33.681488037109375, 'speed_limit': 1.0, 'motor_currents': -14436.134765625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.5536365509033203}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_1, id=20, type=unknown, extra={} state={'board_temperature': 26.30935287475586, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.689422607421875, 'speed_limit': 1.0, 'motor_currents': 8.68701171875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 14 03:52:06 r2-0008 docker[66814]: 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': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.01994180679321289}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_pitch, id=22, type=unknown, extra={} state={'position': -0.1734907478094101, 'velocity': -4.3845570729672545e-08, 'effort': -55451.8984375, 'target_position': -0.1734907478094101}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_2, id=23, type=unknown, extra={} state={'board_temperature': 28.11802101135254, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 28.5162353515625, 'speed_limit': 1.0, 'motor_currents': 2056.9736328125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.011785507202148438}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_1, id=24, type=unknown, extra={} state={'board_temperature': 28.045692443847656, 'motor_velocities': 8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 26.712249755859375, 'speed_limit': 1.0, 'motor_currents': -5184.7900390625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0015157064190134406}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_roll, id=25, type=unknown, extra={} state={'position': 0.00023430997680407017, 'velocity': 2.4523987657418505e-37, 'effort': -57332.66015625, 'target_position': 0.00023430997680407017}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_yaw, id=26, type=unknown, extra={} state={'position': -0.000517820124514401, 'velocity': 6.122099875938147e-05, 'effort': -72856.890625, 'target_position': -0.000517820124514401}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_3, id=28, type=unknown, extra={} state={'board_temperature': 28.327425003051758, 'motor_velocities': -2.8241161075444083e-16, 'torque_limit': 1.0, 'motor_temperature': 34.766571044921875, 'speed_limit': 1.0, 'motor_currents': 3849.716796875, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.5303287506103516}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_pitch, id=29, type=unknown, extra={} state={'position': -0.008558599278330803, 'velocity': 1.6815581571897805e-44, 'effort': -42.22365188598633, 'axis_sensor': -0.0150604248046875, 'target_position': -0.008558599278330803}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_raw_motor_2, id=31, type=unknown, extra={} state={'board_temperature': 26.581865310668945, 'motor_velocities': -2.5223372357846707e-44, 'torque_limit': 1.0, 'motor_temperature': 26.490570068359375, 'speed_limit': 1.0, 'motor_currents': -3.6641526222229004, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_yaw, id=33, type=unknown, extra={} state={'position': -0.0006582700298167765, 'velocity': 8.363740968722852e-39, 'effort': 7393.83349609375, 'target_position': -0.0006582700298167765}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_3, id=35, type=unknown, extra={} state={'board_temperature': 27.682157516479492, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.566253662109375, 'speed_limit': 1.0, 'motor_currents': 4981.0380859375, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': 0.004059473518282175}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_elbow_raw_motor_2, id=36, type=unknown, extra={} state={'board_temperature': 26.858430862426758, 'motor_velocities': -7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 26.617034912109375, 'speed_limit': 1.0, 'motor_currents': 34.83292007446289, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_raw_motor_1, id=37, type=unknown, extra={} state={'board_temperature': 28.665931701660156, 'motor_velocities': 0.00012633990263566375, 'torque_limit': 1.0, 'motor_temperature': 31.710174560546875, 'speed_limit': 1.0, 'motor_currents': -3060.9814453125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.0051937103271484375}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.07056307792663574, 'velocity': 0.0, 'effort': -9.999999974752427e-07, 'torque': 1.0, 'target_position': -0.06902909278869629}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_raw_motor_1, id=40, type=unknown, extra={} state={'board_temperature': 28.31128692626953, 'motor_velocities': -2.686119206632921e-37, 'torque_limit': 1.0, 'motor_temperature': 26.282684326171875, 'speed_limit': 1.0, 'motor_currents': -10322.228515625, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.008826732635498047}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_yaw, id=42, type=unknown, extra={} state={'position': 0.00011970050400123, 'velocity': 0.0, 'effort': 93709.921875, 'target_position': 0.00011970050400123}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_pitch, id=44, type=unknown, extra={} state={'position': -0.0006294790655374527, 'velocity': 0.0, 'effort': -55379.984375, 'target_position': -0.0006294790655374527}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_shoulder_raw_motor_2, id=45, type=unknown, extra={} state={'board_temperature': 27.876924514770508, 'motor_velocities': -5.885453550164232e-44, 'torque_limit': 1.0, 'motor_temperature': 31.08721923828125, 'speed_limit': 1.0, 'motor_currents': 15.207294464111328, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_roll, id=47, type=unknown, extra={} state={'position': -0.0003333780914545059, 'velocity': 2.802596928649634e-45, 'effort': 3895.617431640625, 'target_position': -0.0003333780914545059}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_elbow_pitch, id=48, type=unknown, extra={} state={'position': 3.764504015180137e-07, 'velocity': -1.2611686178923354e-44, 'effort': 9.387334823608398, 'axis_sensor': 0.0033245086669921875, 'target_position': 3.764504015180137e-07}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_pitch, id=49, type=unknown, extra={} state={'position': -0.0023109661415219307, 'velocity': -0.0, 'effort': -23.01679039001465, 'axis_sensor': -0.005988121032714844, 'target_position': -0.0023109661415219307}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_wrist_pitch, id=50, type=unknown, extra={} state={'position': 0.0004971020971424878, 'velocity': 1.0158012567890599e-41, 'effort': 3466.535888671875, 'target_position': 0.0004971020971424878}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=neck_roll, id=51, type=unknown, extra={} state={'position': 0.00019764348689932376, 'velocity': 1.2377943676256109e-05, 'effort': 16807.341796875, 'target_position': 0.00018864018784370273}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_raw_motor_1, id=52, type=unknown, extra={} state={'board_temperature': 26.17005729675293, 'motor_velocities': 7.006492321624085e-45, 'torque_limit': 1.0, 'motor_temperature': 29.49609375, 'speed_limit': 1.0, 'motor_currents': 3.3064680099487305, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=r_wrist_raw_motor_3, id=54, type=unknown, extra={} state={'board_temperature': 27.408674240112305, 'motor_velocities': -8.407790785948902e-45, 'torque_limit': 1.0, 'motor_temperature': 30.359649658203125, 'speed_limit': 1.0, 'motor_currents': -14442.267578125, 'p_gain': 0.0, 'i_gain': 0.0, 'd_gain': 0.0, 'axis_sensor': -0.013950983993709087}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Component(name=l_shoulder_roll, id=55, type=unknown, extra={} state={'position': -0.17686939239501953, 'velocity': -4.203895392974451e-45, 'effort': -37.90973663330078, 'axis_sensor': -0.16748970746994019, 'target_position': -0.17686939239501953}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Creating parts. May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: 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': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.01994180679321289}), Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.07056307792663574, 'velocity': 0.0, 'effort': -9.999999974752427e-07, 'torque': 1.0, 'target_position': -0.06902909278869629})], 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': 0.0, 'effort': 0.0, 'torque': 1.0, 'target_position': 0.01994180679321289}), 'antenna_right': Component(name=antenna_right, id=39, type=dynamixel, extra={'name': 'antenna_right', 'actuator': 'dynamixel'} state={'position': -0.07056307792663574, 'velocity': 0.0, 'effort': -9.999999974752427e-07, 'torque': 1.0, 'target_position': -0.06902909278869629})}) May 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: 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 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='mobile_base', id=6, type='mobile_base', components=[], components_dict={}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: - Part(name='tripod', id=7, type='tripod', components=[], components_dict={}) May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Parts created (nb_parts=7). May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/forward_kinematics'... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/r_arm/inverse_kinematics'... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/cart_target_pose' ready. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/r_arm/ik_target_pose' ready. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/forward_kinematics'... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/l_arm/inverse_kinematics'... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/cart_target_pose' ready. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/l_arm/ik_target_pose' ready. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/forward_kinematics'... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Subscribing for service '/head/inverse_kinematics'... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/cart_target_pose' ready. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Publisher to topic '/head/ik_target_pose' ready. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_arm_goto... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_arm_goto... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server neck_goto... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server r_hand_goto... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server l_hand_goto... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_right_goto... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server antenna_left_goto... May 14 03:52:06 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/l_arm/cart_target_pose' May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Waiting for action server mobile_base_goto... May 14 03:52:06 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/ik_target_pose' May 14 03:52:06 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/head/cart_target_pose' May 14 03:52:06 r2-0008 docker[66814]: core | [rosbag-13] [INFO]: Subscribed to topic '/r_arm/cart_target_pose' May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Setup complete. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Initialized mobile base server. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Reachy GRPC Joint SDK Servicer initialized. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'DynamixelMotorServiceServicer' to server. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'GoToServiceServicer' to server. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HandServiceServicer' to server. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'HeadServiceServicer' to server. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'MobileBaseServicer' to server. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita2dServiceServicer' to server. May 14 03:52:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:06Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.16022 req/s May 14 03:52:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:06Z INFO server] GRPC EtherCAT Slave 2 | commands sent 338.38 cmd/s, commands dropped 1.00 req/s, command time: 2.96 (max 1066.91) ms May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'Orbita3dServiceServicer' to server. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'ArmServiceServicer' to server. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Registering 'TripodServiceServicer' to server. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [PID 1263] Ready to start May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Server started on port 50051. May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [PID 1263] Server started on port 50051. May 14 03:52:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:06Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.139 req/s May 14 03:52:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:06Z INFO server] GRPC EtherCAT Slave 3 | commands sent 383.37 cmd/s, commands dropped 1.40 req/s, command time: 2.61 (max 857.22) ms May 14 03:52:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:06Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.04333 req/s May 14 03:52:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:06Z INFO server] GRPC EtherCAT Slave 4 | commands sent 378.56 cmd/s, commands dropped 1.40 req/s, command time: 2.64 (max 742.59) ms May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis May 14 03:52:06 r2-0008 docker[66814]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec May 14 03:52:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:06Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.10547 req/s May 14 03:52:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:06Z INFO server] GRPC EtherCAT Slave 5 | commands sent 400.77 cmd/s, commands dropped 1.20 req/s, command time: 2.50 (max 611.32) ms May 14 03:52:07 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:07Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.05594 req/s May 14 03:52:07 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:07Z INFO server] GRPC EtherCAT Slave 6 | commands sent 426.08 cmd/s, commands dropped 0.80 req/s, command time: 2.35 (max 484.74) ms May 14 03:52:07 r2-0008 docker[66814]: core | [INFO] [launch.user]: May 14 03:52:07 r2-0008 docker[66814]: core | -------------------------------------------------- May 14 03:52:07 r2-0008 docker[66814]: core | Node Watcher Report May 14 03:52:07 r2-0008 docker[66814]: core | Logging to /home/reachy/.ros/log/2026-05-14-01-51-56-322168-r2-0008-107 May 14 03:52:07 r2-0008 docker[66814]: core | Un-monitored nodes[11/26] May 14 03:52:07 r2-0008 docker[66814]: core | Failed[0/15]: [] May 14 03:52:07 r2-0008 docker[66814]: core | Success[15/15]: ['joint_state_broadcaster', 'antenna_mode_controller', 'l_arm_forward_position_controller', 'gripper_mode_controller', 'forward_pid_controller', 'forward_torque_limit_controller', 'antenna_current_controller', 'gripper_forward_position_controller', 'antenna_forward_position_controller', 'gripper_current_controller', 'forward_torque_controller', 'neck_forward_position_controller', 'forward_speed_limit_controller', 'r_arm_forward_position_controller', 'tripod_forward_position_controller'] May 14 03:52:07 r2-0008 docker[66814]: core | -------------------------------------------------- May 14 03:52:07 r2-0008 docker[66814]: core | May 14 03:52:07 r2-0008 docker[66814]: 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 14 03:52:07 r2-0008 docker[66814]: core | [INFO] [aplay-31]: process started with pid [1382] May 14 03:52:07 r2-0008 docker[66814]: 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 14 03:52:07 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:07Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 921.72 Hz May 14 03:52:08 r2-0008 docker[66814]: core | [INFO] [aplay-31]: process has finished cleanly [pid 1382] May 14 03:52:17 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:17Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 926.86 Hz May 14 03:52:27 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:27Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 932.85 Hz May 14 03:52:35 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:35Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.00204 req/s May 14 03:52:35 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:35Z INFO server] GRPC EtherCAT Slave 0 | commands sent 510.68 cmd/s, commands dropped 0.87 req/s, command time: 1.96 (max 16.22) ms May 14 03:52:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:36Z INFO server] GRPC EtherCAT Slave 1 | commands sent 489.45 cmd/s, commands dropped 0.87 req/s, command time: 2.04 (max 16.06) ms May 14 03:52:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:36Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99503 req/s May 14 03:52:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:36Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.99695 req/s May 14 03:52:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:36Z INFO server] GRPC EtherCAT Slave 2 | commands sent 487.15 cmd/s, commands dropped 0.73 req/s, command time: 2.05 (max 18.81) ms May 14 03:52:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:36Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.9976 req/s May 14 03:52:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:36Z INFO server] GRPC EtherCAT Slave 3 | commands sent 504.80 cmd/s, commands dropped 0.87 req/s, command time: 1.98 (max 17.40) ms May 14 03:52:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:36Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.99686 req/s May 14 03:52:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:36Z INFO server] GRPC EtherCAT Slave 4 | commands sent 489.23 cmd/s, commands dropped 0.50 req/s, command time: 2.04 (max 16.65) ms May 14 03:52:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:36Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.99667 req/s May 14 03:52:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:36Z INFO server] GRPC EtherCAT Slave 5 | commands sent 488.07 cmd/s, commands dropped 1.00 req/s, command time: 2.05 (max 17.94) ms May 14 03:52:37 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:37Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.99893 req/s May 14 03:52:37 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:37Z INFO server] GRPC EtherCAT Slave 6 | commands sent 503.70 cmd/s, commands dropped 0.80 req/s, command time: 1.99 (max 16.87) ms May 14 03:52:37 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:37Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 926.36 Hz May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [INFO]: Requested mode change to :'CMD_VEL' May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [INFO]: OK May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:41 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:43 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:45 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:47Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 931.27 Hz May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:47 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:50 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:56 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:52:57Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 925.85 Hz May 14 03:52:58 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:58 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:58 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:58 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:58 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:59 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:59 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:59 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:59 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:59 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:59 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:59 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:59 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:59 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:52:59 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:01 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:02 r2-0008 docker[66814]: core | [hal-4] [WARN]: Battery voltage OK (25.7V) May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:03 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:05Z INFO server] GRPC EtherCAT Slave 0 | commands sent 515.63 cmd/s, commands dropped 1.13 req/s, command time: 1.94 (max 19.30) ms May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:05 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:05Z INFO server] GRPC EtherCAT Slave 0 | states sent 499.99628 req/s May 14 03:53:05 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:06Z INFO server] GRPC EtherCAT Slave 1 | commands sent 489.30 cmd/s, commands dropped 1.03 req/s, command time: 2.04 (max 22.92) ms May 14 03:53:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:06Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.00027 req/s May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:06Z INFO server] GRPC EtherCAT Slave 2 | commands sent 488.37 cmd/s, commands dropped 1.07 req/s, command time: 2.05 (max 22.36) ms May 14 03:53:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:06Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.99283 req/s May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:06Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.99393 req/s May 14 03:53:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:06Z INFO server] GRPC EtherCAT Slave 3 | commands sent 507.96 cmd/s, commands dropped 1.27 req/s, command time: 1.97 (max 19.22) ms May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:06Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.01617 req/s May 14 03:53:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:06Z INFO server] GRPC EtherCAT Slave 4 | commands sent 488.36 cmd/s, commands dropped 1.20 req/s, command time: 2.05 (max 22.42) ms May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:06Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.9943 req/s May 14 03:53:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:06Z INFO server] GRPC EtherCAT Slave 5 | commands sent 488.26 cmd/s, commands dropped 1.13 req/s, command time: 2.05 (max 21.56) ms May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:06 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:07 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:07 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:07Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.017 req/s May 14 03:53:07 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:07Z INFO server] GRPC EtherCAT Slave 6 | commands sent 507.33 cmd/s, commands dropped 1.27 req/s, command time: 1.97 (max 19.80) ms May 14 03:53:07 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:07Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 929.13 Hz May 14 03:53:08 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:08 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:08 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:08 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:08 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:09 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:11 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:13 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:15 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:17Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 929.04 Hz May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:17 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:19 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:19 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:19 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:19 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:19 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:19 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:20 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:21 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:22 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:24 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:26 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:27 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:27 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:27 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:27 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:27 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:27Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 930.10 Hz May 14 03:53:28 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:28 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:29 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:31 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:32 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:33 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:34 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:35 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:35Z INFO server] GRPC EtherCAT Slave 0 | commands sent 515.53 cmd/s, commands dropped 1.43 req/s, command time: 1.94 (max 20.95) ms May 14 03:53:35 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:35Z INFO server] GRPC EtherCAT Slave 0 | states sent 499.99738 req/s May 14 03:53:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:36Z INFO server] GRPC EtherCAT Slave 1 | commands sent 489.47 cmd/s, commands dropped 1.63 req/s, command time: 2.04 (max 23.08) ms May 14 03:53:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:36Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.00137 req/s May 14 03:53:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:36Z INFO server] GRPC EtherCAT Slave 2 | commands sent 489.18 cmd/s, commands dropped 1.23 req/s, command time: 2.04 (max 22.97) ms May 14 03:53:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:36Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.99576 req/s May 14 03:53:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:36Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.00815 req/s May 14 03:53:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:36Z INFO server] GRPC EtherCAT Slave 3 | commands sent 508.64 cmd/s, commands dropped 1.67 req/s, command time: 1.97 (max 21.86) ms May 14 03:53:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:36Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.99042 req/s May 14 03:53:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:36Z INFO server] GRPC EtherCAT Slave 4 | commands sent 488.40 cmd/s, commands dropped 1.03 req/s, command time: 2.05 (max 21.56) ms May 14 03:53:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:36Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.03082 req/s May 14 03:53:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:36Z INFO server] GRPC EtherCAT Slave 5 | commands sent 488.38 cmd/s, commands dropped 1.20 req/s, command time: 2.05 (max 22.73) ms May 14 03:53:37 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:37Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.9899 req/s May 14 03:53:37 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:37Z INFO server] GRPC EtherCAT Slave 6 | commands sent 508.13 cmd/s, commands dropped 1.30 req/s, command time: 1.97 (max 22.69) ms May 14 03:53:37 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:37Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 927.03 Hz May 14 03:53:37 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:37 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:37 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:37 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:37 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:37 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:37 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:37 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:37 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:37 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:38 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:39 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:40 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:42 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:44 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.018011288896982693, 0.746450216538418, -0.08037080234451446] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [ERROR]: (neck) WRITE TARGET ORIENTATION ERROR! May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.018011288896982693, 0.746450216538418, -0.08037080234451446] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [ERROR]: (neck) READ ORIENTATION ERROR! May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.03434074631230513, 0.7461038381922304, -0.10437215808318392] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.03434074631230513, 0.7461038381922304, -0.10437215808318392] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.050673580247260895, 0.7454860018502207, -0.12840821297842753] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.050673580247260895, 0.7454860018502207, -0.12840821297842753] May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.06693049057778545, 0.7445848877166765, -0.15241063734824106] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.06693049057778545, 0.7445848877166765, -0.15241063734824106] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.0749607318578941, 0.7440414366181256, -0.16434752549126375] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.0749607318578941, 0.7440414366181256, -0.16434752549126375] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.08305281939645855, 0.74341427286956, -0.1762824450042879] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.08305281939645855, 0.74341427286956, -0.1762824450042879] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.09914887923764575, 0.741947532260161, -0.20014095919210523] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.09914887923764575, 0.741947532260161, -0.20014095919210523] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.11521221873550946, 0.7402103821552838, -0.2239452285490064] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.11521221873550946, 0.7402103821552838, -0.2239452285490064] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.12318655809820785, 0.7392341744152303, -0.23576882692928028] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.12318655809820785, 0.7392341744152303, -0.23576882692928028] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.1390520414552707, 0.7370591585313151, -0.2593744720995963] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.1390520414552707, 0.7370591585313151, -0.2593744720995963] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.15490831721295903, 0.7345871835432826, -0.2829862838856711] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.15490831721295903, 0.7345871835432826, -0.2829862838856711] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.16280678691277245, 0.7332402450894588, -0.2947424273019998] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.16280678691277245, 0.7332402450894588, -0.2947424273019998] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.1706639303809544, 0.7318410310437898, -0.30646395558056616] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.1706639303809544, 0.7318410310437898, -0.30646395558056616] May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.18627891298783308, 0.7288070314393303, -0.32976309321829167] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.18627891298783308, 0.7288070314393303, -0.32976309321829167] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.20162047115654047, 0.7254682639867518, -0.3528604044523399] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.20162047115654047, 0.7254682639867518, -0.3528604044523399] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.21598279880790372, 0.7218008682436783, -0.37536075056671314] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.21598279880790372, 0.7218008682436783, -0.37536075056671314] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.22267714692148546, 0.7198600581123336, -0.38631837434170396] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.22267714692148546, 0.7198600581123336, -0.38631837434170396] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.23509954592866114, 0.7159323779319825, -0.40764691917531193] May 14 03:53:46 r2-0008 docker[66814]: core | [ros2_control_node-2] [2026-05-14T01:53:46Z ERROR orbita3d_kinematics::position::forward] IK error for rpy: [0.23509954592866114, 0.7159323779319825, -0.40764691917531193] May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:46 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:47 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:47Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 923.87 Hz May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:48 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:49 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:51 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:51 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:51 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:51 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:51 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:51 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:51 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:52 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:54 r2-0008 docker[66814]: core | [hal-4] [ERROR]: self.x_vel_goal : 0.0 May 14 03:53:56 r2-0008 docker[66814]: core | [hal-4] [INFO]: Requested mode change to :'FREE_WHEEL' May 14 03:53:56 r2-0008 docker[66814]: core | [hal-4] [INFO]: OK May 14 03:53:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:53:57Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 925.09 Hz May 14 03:54:02 r2-0008 docker[66814]: core | [hal-4] [WARN]: Battery voltage OK (25.7V) May 14 03:54:05 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:05Z INFO server] GRPC EtherCAT Slave 0 | commands sent 514.40 cmd/s, commands dropped 1.10 req/s, command time: 1.94 (max 18.76) ms May 14 03:54:05 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:05Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.00684 req/s May 14 03:54:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:06Z INFO server] GRPC EtherCAT Slave 1 | states sent 499.99054 req/s May 14 03:54:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:06Z INFO server] GRPC EtherCAT Slave 1 | commands sent 489.37 cmd/s, commands dropped 1.53 req/s, command time: 2.04 (max 18.43) ms May 14 03:54:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:06Z INFO server] GRPC EtherCAT Slave 2 | commands sent 487.06 cmd/s, commands dropped 1.10 req/s, command time: 2.05 (max 19.45) ms May 14 03:54:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:06Z INFO server] GRPC EtherCAT Slave 2 | states sent 500.01385 req/s May 14 03:54:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:06Z INFO server] GRPC EtherCAT Slave 3 | states sent 499.99326 req/s May 14 03:54:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:06Z INFO server] GRPC EtherCAT Slave 3 | commands sent 506.46 cmd/s, commands dropped 1.30 req/s, command time: 1.97 (max 19.06) ms May 14 03:54:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:06Z INFO server] GRPC EtherCAT Slave 4 | states sent 499.88638 req/s May 14 03:54:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:06Z INFO server] GRPC EtherCAT Slave 4 | commands sent 488.12 cmd/s, commands dropped 1.13 req/s, command time: 2.05 (max 19.10) ms May 14 03:54:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:06Z INFO server] GRPC EtherCAT Slave 5 | states sent 499.98743 req/s May 14 03:54:06 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:06Z INFO server] GRPC EtherCAT Slave 5 | commands sent 488.43 cmd/s, commands dropped 1.03 req/s, command time: 2.05 (max 17.99) ms May 14 03:54:07 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:07Z INFO server] GRPC EtherCAT Slave 6 | states sent 500.00458 req/s May 14 03:54:07 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:07Z INFO server] GRPC EtherCAT Slave 6 | commands sent 507.81 cmd/s, commands dropped 0.87 req/s, command time: 1.97 (max 17.24) ms May 14 03:54:07 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:07Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 926.97 Hz May 14 03:54:17 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:17Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 927.13 Hz May 14 03:54:27 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:27Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 931.24 Hz May 14 03:54:35 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:35Z INFO server] GRPC EtherCAT Slave 0 | commands sent 511.88 cmd/s, commands dropped 1.37 req/s, command time: 1.95 (max 19.01) ms May 14 03:54:35 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:35Z INFO server] GRPC EtherCAT Slave 0 | states sent 500.00275 req/s May 14 03:54:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:36Z INFO server] GRPC EtherCAT Slave 1 | commands sent 488.19 cmd/s, commands dropped 1.60 req/s, command time: 2.05 (max 17.80) ms May 14 03:54:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:36Z INFO server] GRPC EtherCAT Slave 1 | states sent 500.01318 req/s May 14 03:54:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:36Z INFO server] GRPC EtherCAT Slave 2 | commands sent 488.56 cmd/s, commands dropped 1.50 req/s, command time: 2.05 (max 18.40) ms May 14 03:54:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:36Z INFO server] GRPC EtherCAT Slave 2 | states sent 499.99817 req/s May 14 03:54:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:36Z INFO server] GRPC EtherCAT Slave 3 | states sent 500.00708 req/s May 14 03:54:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:36Z INFO server] GRPC EtherCAT Slave 3 | commands sent 507.47 cmd/s, commands dropped 1.87 req/s, command time: 1.97 (max 19.09) ms May 14 03:54:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:36Z INFO server] GRPC EtherCAT Slave 4 | states sent 500.02084 req/s May 14 03:54:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:36Z INFO server] GRPC EtherCAT Slave 4 | commands sent 489.18 cmd/s, commands dropped 1.20 req/s, command time: 2.04 (max 17.42) ms May 14 03:54:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:36Z INFO server] GRPC EtherCAT Slave 5 | states sent 500.01044 req/s May 14 03:54:36 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:36Z INFO server] GRPC EtherCAT Slave 5 | commands sent 488.50 cmd/s, commands dropped 1.37 req/s, command time: 2.05 (max 18.41) ms May 14 03:54:37 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:37Z INFO server] GRPC EtherCAT Slave 6 | states sent 499.99103 req/s May 14 03:54:37 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:37Z INFO server] GRPC EtherCAT Slave 6 | commands sent 506.86 cmd/s, commands dropped 1.97 req/s, command time: 1.97 (max 18.40) ms May 14 03:54:37 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:37Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 929.47 Hz May 14 03:54:45 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Client left stream!! Version with time.sleep() May 14 03:54:46 r2-0008 docker[66814]: core | [reachy_grpc_joint_sdk_server-30] [INFO]: Client left stream!! Version with time.sleep() May 14 03:54:47 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:47Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 930.51 Hz May 14 03:54:57 r2-0008 docker[66814]: core | [ethercat_master_server-1] [2026-05-14T01:54:57Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 929.97 Hz